/************************************************************************* * * * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * * All rights reserved. Email: russ@q12.org Web: www.q12.org * * * * This library is free software; you can redistribute it and/or * * modify it under the terms of EITHER: * * (1) 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. The text of the GNU Lesser * * General Public License is included with this library in the * * file LICENSE.TXT. * * (2) The BSD-style license that is included with this library in * * the file LICENSE-BSD.TXT. * * * * 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 files * * LICENSE.TXT and LICENSE-BSD.TXT for more details. * * * *************************************************************************/ /* given (A,b,lo,hi), solve the LCP problem: A*x = b+w, where each x(i),w(i) satisfies one of (1) x = lo, w >= 0 (2) x = hi, w <= 0 (3) lo < x < hi, w = 0 A is a matrix of dimension n*n, everything else is a vector of size n*1. lo and hi can be +/- dInfinity as needed. the first `nub' variables are unbounded, i.e. hi and lo are assumed to be +/- dInfinity. we restrict lo(i) <= 0 and hi(i) >= 0. the original data (A,b) may be modified by this function. if the `findex' (friction index) parameter is nonzero, it points to an array of index values. in this case constraints that have findex[i] >= 0 are special. all non-special constraints are solved for, then the lo and hi values for the special constraints are set: hi[i] = abs( hi[i] * x[findex[i]] ) lo[i] = -hi[i] and the solution continues. this mechanism allows a friction approximation to be implemented. */ #ifndef _ODE_LCP_H_ #define _ODE_LCP_H_ void dSolveLCP (int n, dReal *A, dReal *x, dReal *b, dReal *w, int nub, dReal *lo, dReal *hi, int *findex); #endif

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