ContactSolver.h

Go to the documentation of this file.

#ifndef CONTACTSOLVER_H
#define CONTACTSOLVER_H

#include "ThyrixParameters.h"
#include "GlobalContactInfo.h"

enum ContactSet {
   contactSetC,   //contact
   contactSetNC,  //non-contact
   contactSetI    //ignored (redundant constraint, f=0)
};

class ContactSolver {

public:
   ContactSolver(GlobalContactInfoVector* contacts);
   virtual ~ContactSolver();

   void init();

   void computeContacts();

   void computeContactsPreda();

   void uploadForces();

   real** contactMatrix;

   real* contactVector;

   real* tempVector1;
   real* tempVector2;
   real** tempMatrix;
   
private:
   real maxStep(int d, int *sIndex);
   bool driveToZero(int d);
   void initForcesVelocities();

   GlobalContactInfoVector* contacts;

   int nContacts;

   int nContactsMax;
   
   real** contactMatrixTemp;

   real* contactForces;
   
   real* contactVectorTemp;
   
   real* contactDForces;

   real* contactVelocities;

   ContactSet* contactSets;

   int* contactIndexC;

   //int* contactIndex;

   int* contactIndexTemp;

   int* zeros;

};

#endif //CONTACTSOLVER_H

Thyrix homepage • Users' guide

(C) Arxia 2004-2005