git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@280 92aac97c-a6ce-11dd-a772-7fcde58d38e6

sources/reactphysics3d/engine/ConstraintSolver.cpp

@@ -0,0 +1,76 @@
+/***************************************************************************
+* 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/>.   *
+***************************************************************************/
+
+// Libraries
+#include "ConstraintSolver.h"
+
+// Constructor
+ConstraintSolver::ConstraintSolver() {
+
+}
+
+// Destructor
+ConstraintSolver~ConstraintSolver() {
+
+}
+
+// Allocate all the matrices needed to solve the LCP problem
+void ConstraintSolver::allocate(std::vector<Constraint*>& constraints, double dt) {
+    std::vector<Constraint*> activeConstraints;
+    unsigned int sizeJacobian = 0;
+    unsigned int nbAuxiliaryVars = 0;
+
+    // For each constraint
+    for (unsigned int i=0; i<constraints.size(); ++i) {
+        // If the constraint is active
+        if (constraints.at(i)->isActive()) {
+            activeConstraints.push_back(constraints.at(i));
+
+            // Evaluate the constraint
+            constraints.at(i)->evaluate(dt);
+
+            // Set the current jacobian index to the constraint
+            constraints.at(i)->setJacobianIndex(sizeJacobian);
+
+            // Update the size of the jacobian matrix
+            sizeJacobian += constraints.at(i)->getNbJacobianRows();
+        }
+    }
+
+    // For each active constraint
+    for (unsigned int i=0; i<activeConstraints.size(); ++i) {
+        // Set the auxiliary index
+        activeConstraints.at(i)->setAuxiliaryIndex(sizeJacobian + nbAuxiliaryVars);
+
+        // Update the number of auxiliary variables
+        nbAuxiliaryVars += activeConstraints.at(i)->getNbAuxiliaryVars();
+    }
+
+    // TODO : Continue to implement this ...
+}
+
+// Fill in all the matrices needed to solve the LCP problem
+void ConstraintSolver::fillInMatrices(std::vector<Constraint*> constraints) {
+
+}
+
+// Solve the current LCP problem
+void ConstraintSolver::solve(std::vector<Constraint*> constraints, double dt) {
+
+}

sources/reactphysics3d/engine/ConstraintSolver.h

@@ -0,0 +1,48 @@
+/***************************************************************************
+* 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 CONSTRAINTSOLVER_H
+#define CONSTRAINTSOLVER_H
+
+// Libraries
+#include "../constraint/Constraint.h"
+
+// ReactPhysics3D namespace
+namespace reactphysics3d {
+
+ /*  -------------------------------------------------------------------
+    Class ConstrainSolver :
+        This class represents the constraint solver. The goal is to
+        solve A constraint-base LCP problem.
+    -------------------------------------------------------------------
+*/
+class ConstraintSolver {
+    protected:
+        void allocate(std::vector<Constraint*>& constraints, double dt);    // Allocate all the matrices needed to solve the LCP problem
+        void fillInMatrices(std::vector<Constraint*> constraints);         // Fill in all the matrices needed to solve the LCP problem
+
+    public:
+        ConstraintSolver();                                                 // Constructor
+        virtual ~ConstraintSolver();                                        // Destructor
+        void solve(std::vector<Constraint*>& constraints, double dt);       // Solve the current LCP problem
+};
+
+} // End of ReactPhysics3D namespace
+
+#endif

sources/reactphysics3d/engine/PhysicsEngine.h

@@ -47,7 +47,6 @@ class PhysicsEngine {
 
     public :
         PhysicsEngine(PhysicsWorld* world, const Time& timeStep) throw (std::invalid_argument);     // Constructor
-        PhysicsEngine(const PhysicsEngine& engine);                                                 // Copy-constructor
         ~PhysicsEngine();                                                                           // Destructor
 
         void start();                                           // Start the physics simulation