/usr/include/sofa/helper/LCPcalc.h is in libsofa1-dev 1.0~beta4-6.
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* SOFA, Simulation Open-Framework Architecture, version 1.0 beta 4 *
* (c) 2006-2009 MGH, INRIA, USTL, UJF, CNRS *
* *
* This library 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 2.1 of the License, or (at *
* your option) any later version. *
* *
* This library 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 this library; if not, write to the Free Software Foundation, *
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA. *
*******************************************************************************
* SOFA :: Framework *
* *
* Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
* H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza, *
* M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy *
* *
* Contact information: contact@sofa-framework.org *
******************************************************************************/
#ifndef SOFA_HELPER_LCPCALC_H
#define SOFA_HELPER_LCPCALC_H
#include <stdio.h>
#include <stdlib.h>
#include <math.h>
#include <sofa/helper/system/thread/CTime.h>
namespace sofa
{
namespace helper
{
//#define NULL 0
using namespace system::thread;
#define EPSILON_LCP 0.00000000001 // epsilon pour tests = 0
#define EPSILON_CONV 0.001 // for GS convergence
#define MAX_BOU 50 // nombre maximal de boucles de calcul
class SOFA_HELPER_API LCP
{
private:
int maxConst;
double* dfree;
double** W;
double* f;
double tol;
int numItMax;
bool useInitialF;
double mu;
int dim;
unsigned int nbConst;
public:
LCP(unsigned int maxConstraint);
~LCP();
void reset(void);
//LCP& operator=(LCP& lcp);
inline double** getW(void) {return W;};
inline double& getMu(void) { return mu;};
inline double* getDfree(void) {return dfree;};
inline double getTolerance(void) {return tol;};
inline double getMaxIter(void) {return numItMax;};
inline double* getF(void) {return f;};
inline bool useInitialGuess(void) {return useInitialF;};
inline unsigned int getNbConst(void) {return nbConst;};
inline unsigned int setNbConst(unsigned int nbC) {nbConst = nbC; return 0;};
inline unsigned int getMaxConst(void) {return maxConst;};
};
inline SOFA_HELPER_API void set3Dof(double *vector, int index, double &vx, double &vy, double &vz)
{vector[3*index]=vx; vector[3*index+1]=vy; vector[3*index+2]=vz;}
inline SOFA_HELPER_API void add3Dof(double *vector, int index, double &vx, double &vy, double &vz)
{vector[3*index]+=vx; vector[3*index+1]+=vy; vector[3*index+2]+=vz;}
inline SOFA_HELPER_API double normError(double &f1x, double &f1y, double &f1z, double &f2x, double &f2y, double &f2z)
{return sqrt( ((f2x-f1x)*(f2x-f1x) + (f2y-f1y)*(f2y-f1y) + (f2z-f1z)*(f2z-f1z)) /
(f1x*f1x + f1y*f1y + f1z*f1z) ) ; }
inline SOFA_HELPER_API double absError(double &f1x, double &f1y, double &f1z, double &f2x, double &f2y, double &f2z)
{return sqrt ((f2x-f1x)*(f2x-f1x) + (f2y-f1y)*(f2y-f1y) + (f2z-f1z)*(f2z-f1z));}
SOFA_HELPER_API int resoudreLCP(int, double *, double **, double *);
SOFA_HELPER_API int lcp_lexicolemke(int, double *, double **, double *);
// same with pre-allocated matrix A
SOFA_HELPER_API int lcp_lexicolemke(int, double *, double **, double **, double *);
SOFA_HELPER_API void afficheSyst(double *q,double **M, int *base, double **mat, int dim);
SOFA_HELPER_API void afficheLCP(double *q, double **M, int dim);
SOFA_HELPER_API void afficheLCP(double *q, double **M, double *f, int dim);
typedef SOFA_HELPER_API double FemClipsReal;
SOFA_HELPER_API void gaussSeidelLCP1(int, FemClipsReal *,FemClipsReal **, FemClipsReal *, double , int );
// inverted SymMatrix 3x3 //
class SOFA_HELPER_API LocalBlock33 {
public:
LocalBlock33(){computed=false;};
~LocalBlock33(){};
void compute(double &w11, double &w12, double &w13, double &w22, double &w23, double &w33);
void stickState(double &dn, double &dt, double &ds, double &fn, double &ft, double &fs);
void slipState(double &mu, double &dn, double &dt, double &ds, double &fn, double &ft, double &fs);
// computation of a new state using a simple gauss-seidel loop // pseudo-potential
void GS_State(double &mu, double &dn, double &dt, double &ds, double &fn, double &ft, double &fs);
// computation of a new state using a simple gauss-seidel loop // pseudo-potential (new: dn, dt, ds already take into account current value of fn, ft and fs)
void New_GS_State(double &mu, double &dn, double &dt, double &ds, double &fn, double &ft, double &fs);
// computation of a new state using biPotential approach
void BiPotential(double &mu, double &dn, double &dt, double &ds, double &fn, double &ft, double &fs);
void setPreviousForce(double &fn, double &ft, double &fs){f_1[0]=fn; f_1[1]=ft; f_1[2]=fs;}
bool computed;
public:
double w[6];
double wInv[6];
double det;
double f_1[3]; // previous value of force
};
// Gauss-Seidel like algorithm for contacts
SOFA_HELPER_API int nlcp_gaussseidel(int, double *, double**, double *, double , double , int , bool );
// Timed Gauss-Seidel like algorithm for contacts
SOFA_HELPER_API int nlcp_gaussseidelTimed(int, double *, double**, double *, double , double , int , bool, double timeout );
} // namespace helper
} // namespace sofa
#endif
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