869c48db42
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@399 92aac97c-a6ce-11dd-a772-7fcde58d38e6
85 lines
4.1 KiB
C++
85 lines
4.1 KiB
C++
/****************************************************************************
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* Copyright (C) 2009 Daniel Chappuis *
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****************************************************************************
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* This file is part of ReactPhysics3D. *
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* *
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* ReactPhysics3D is free software: you can redistribute it and/or modify *
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* it under the terms of the GNU Lesser General Public License as published *
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* by the Free Software Foundation, either version 3 of the License, or *
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* (at your option) any later version. *
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* *
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* ReactPhysics3D is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the *
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* GNU Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU Lesser General Public License *
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* along with ReactPhysics3D. If not, see <http://www.gnu.org/licenses/>. *
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***************************************************************************/
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#ifndef LCPSOLVER_H
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#define LCPSOLVER_H
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// Libraries
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#include <vector>
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#include <map>
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#include "../Vector.h"
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#include "../Matrix.h"
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#include "../../body/Body.h"
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#include "../../typeDefinitions.h"
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// ReactPhysics3D namespace
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namespace reactphysics3d {
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/* -------------------------------------------------------------------
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Class LCPSolver :
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This abstract class represents an algorithm to solve a Linear
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Complementary Problem (LCP). Given a matrix "A=J*B", a vector "b",
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a vector "lowLimit" of lower limits and a vector "highLimits" of
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upper limits. The goal is to find a vector "lambda" such that:
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w = Ax - b
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lowLimits <= lambda <= highLimits
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and one of the thre following conditions holds :
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lambda_i = lowLimits_i, w_i >= 0
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lambda_i = highLimits_i, w_i >= 0
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lowLimits_i < lambda_i < highLimits_i, w_i = 0
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Note that the matrix A is givent by the two matrices J and B with A=J*B.
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But only their sparse representations "J_sp" and "B_sp" are passed in
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arguments to solve() to be more efficient.
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-------------------------------------------------------------------
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*/
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class LCPSolver {
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protected:
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uint maxIterations; // Maximum number of iterations
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Vector lambdaInit; // Initial value for lambda at the beginning of the algorithm
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public:
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LCPSolver(uint maxIterations); // Constructor
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virtual ~LCPSolver(); // Destructor
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virtual void solve(Matrix** J_sp, Matrix** B_sp, uint nbConstraints,
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uint nbBodies, Body*** const bodyMapping, std::map<Body*, uint> bodyNumberMapping,
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const Vector& b, const Vector& lowLimits, const Vector& highLimits, Vector& lambda) const=0; // Solve a LCP problem
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void setLambdaInit(const Vector& lambdaInit); // Set the initial lambda vector
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void setMaxIterations(uint maxIterations); // Set the maximum number of iterations
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};
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// Set the initial lambda vector
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inline void LCPSolver::setLambdaInit(const Vector& lambdaInit) {
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this->lambdaInit.changeSize(lambdaInit.getNbComponent());
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this->lambdaInit = lambdaInit;
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}
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// Set the maximum number of iterations
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inline void LCPSolver::setMaxIterations(uint maxIterations) {
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assert(maxIterations > 0);
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this->maxIterations = maxIterations;
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}
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} // End of the ReactPhysics3D namespace
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#endif
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