db5ff8ec4a
git-svn-id: https://reactphysics3d.googlecode.com/svn/trunk@392 92aac97c-a6ce-11dd-a772-7fcde58d38e6
59 lines
3.6 KiB
C++
59 lines
3.6 KiB
C++
/********************************************************************************
|
|
* ReactPhysics3D physics library, http://code.google.com/p/reactphysics3d/ *
|
|
* Copyright (c) 2010 Daniel Chappuis *
|
|
*********************************************************************************
|
|
* *
|
|
* Permission is hereby granted, free of charge, to any person obtaining a copy *
|
|
* of this software and associated documentation files (the "Software"), to deal *
|
|
* in the Software without restriction, including without limitation the rights *
|
|
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell *
|
|
* copies of the Software, and to permit persons to whom the Software is *
|
|
* furnished to do so, subject to the following conditions: *
|
|
* *
|
|
* The above copyright notice and this permission notice shall be included in *
|
|
* all copies or substantial portions of the Software. *
|
|
* *
|
|
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
|
|
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, *
|
|
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE *
|
|
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER *
|
|
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, *
|
|
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN *
|
|
* THE SOFTWARE. *
|
|
********************************************************************************/
|
|
|
|
#ifndef LCPPROJECTEDGAUSSSEIDEL_H
|
|
#define LCPPROJECTEDGAUSSSEIDEL_H
|
|
|
|
// Libraries
|
|
#include "LCPSolver.h"
|
|
#include <map>
|
|
|
|
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 computeVectorA(const Vector& lambda, uint nbConstraints, Body*** const bodyMapping,
|
|
Matrix** 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(Matrix** J_sp, Matrix** B_sp, uint nbConstraints,
|
|
uint nbBodies, 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
|