b61edcc494
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@323 92aac97c-a6ce-11dd-a772-7fcde58d38e6
53 lines
3.2 KiB
C++
53 lines
3.2 KiB
C++
/****************************************************************************
|
|
* Copyright (C) 2009 Daniel Chappuis *
|
|
****************************************************************************
|
|
* This file is part of ReactPhysics3D. *
|
|
* *
|
|
* ReactPhysics3D is free software: you can redistribute it and/or modify *
|
|
* it under the terms of the GNU Lesser General Public License as published *
|
|
* by the Free Software Foundation, either version 3 of the License, or *
|
|
* (at your option) any later version. *
|
|
* *
|
|
* ReactPhysics3D is distributed in the hope that it will be useful, *
|
|
* but WITHOUT ANY WARRANTY; without even the implied warranty of *
|
|
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
|
|
* GNU Lesser General Public License for more details. *
|
|
* *
|
|
* You should have received a copy of the GNU Lesser General Public License *
|
|
* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
|
|
***************************************************************************/
|
|
|
|
#ifndef LCPPROJECTEDGAUSSSEIDEL_H
|
|
#define LCPPROJECTEDGAUSSSEIDEL_H
|
|
|
|
// Libraries
|
|
#include "LCPSolver.h"
|
|
|
|
namespace reactphysics3d {
|
|
|
|
/* -------------------------------------------------------------------
|
|
Class LCPProjectedGaussSeidel :
|
|
This class implements the Projected-Gauss-Seidel (PGS)
|
|
algorithm in order to solve a LCP problem. This class inherits
|
|
from the LCPSolver class.
|
|
-------------------------------------------------------------------
|
|
*/
|
|
class LCPProjectedGaussSeidel : public LCPSolver {
|
|
protected:
|
|
|
|
void LCPProjectedGaussSeidel::computeVectorA(const Vector& lambda, uint nbConstraints, const Body*** const bodyMapping,
|
|
const Matrix** const B_sp, std::map<Body*, uint> bodyNumberMapping,
|
|
Vector* const a, uint nbBodies) const ; // Compute the vector a used in the solve() method
|
|
|
|
public:
|
|
LCPProjectedGaussSeidel(uint maxIterations); // Constructor
|
|
virtual ~LCPProjectedGaussSeidel(); // Destructor
|
|
virtual void solve(const Matrix** const J_sp, const Matrix** const B_sp, const Body*** const bodyMapping,
|
|
std::map<Body*, uint> bodyNumberMapping, const Vector& b, const Vector& lowLimits,
|
|
const Vector& highLimits, Vector& lambda) const; // Solve a LCP problem using Projected-Gauss-Seidel algorithm // Set the initial value for lambda
|
|
};
|
|
|
|
} // End of the ReactPhysics3D namespace
|
|
|
|
#endif
|