Physsim: /home/drumwrig/Physsim/include/Physsim/LCPRestingContact.h Source File

00001 /****************************************************************************
00002  * Copyright 2006 Evan Drumwright
00003  * This library is distributed under the terms of the GNU General Public 
00004  * License (found in COPYING).
00005  ****************************************************************************/
00006 
00007 #ifndef _LCP_RESTING_CONTACT_H
00008 #define _LCP_RESTING_CONTACT_H
00009 
00010 #include <list>
00011 #include <boost/shared_ptr.hpp>
00012 #include <Physsim/Vector3.h>
00013 #include <Physsim/MatrixNN.h>
00014 #include <Physsim/PenaltyRestingContact.h>
00015 #include <Physsim/RestingContactMethod.h>
00016 
00017 namespace Physsim {
00018 
00019 class Contact;
00020 
00022 
00035 class LCPRestingContact : public RestingContactMethod
00036 {
00037         public:
00038                 LCPRestingContact();
00039                 virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* obj_map = NULL) const;
00040                 virtual bool is_struct_identical(BaseConstPtr object) const;
00041                 virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* correspondence = NULL);
00042                 virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* correspondence = NULL) const;
00043                 virtual void load_from_xml(XMLTreeConstPtr node, std::map<std::string, BasePtr>& id_map);
00044                 virtual void save_to_xml(XMLTreePtr node, std::list<BaseConstPtr>& shared_objects) const;
00045                 virtual void process_resting_contacts(const std::list<ContactPtr >& contacts);
00046 
00048                 virtual bool is_global_method() const { return true; }
00049 
00050         private:
00051                 static bool is_sticking_friction(const std::list<ContactPtr>& contacts);
00052                 static VectorN solve_LCP_iterative(const MatrixNN& A, const VectorN& b, const VectorN& x, unsigned n_iter);
00053                 static VectorN solve_LCP_iterative2(const MatrixNN& A, const VectorN& b, const VectorN& x, unsigned n_iter);
00054                 void determine_contact_forces(const std::list<ContactPtr>& contacts) const; 
00055                 static void solve_LCP_iterative(const MatrixNN& A, const VectorN& b, VectorN& x, unsigned num_iter);
00056 
00057                 boost::shared_ptr<PenaltyRestingContact> _penalty_resting_contact;
00058 }; // end class
00059 
00060 } // end namespace
00061 
00062 #endif
00063