1 #ifndef SimTK_SIMBODY_PGS_IMPULSE_SOLVER_H_
2 #define SimTK_SIMBODY_PGS_IMPULSE_SOLVER_H_
#define SimTK_SIMBODY_EXPORT
Definition: Simbody/include/simbody/internal/common.h:68
The Array_<T> container class is a plug-compatible replacement for the C++ standard template library ...
Definition: Array.h:1520
This is the abstract base class for impulse solvers, which solve an important subproblem of the conta...
Definition: ImpulseSolver.h:109
Projected Gauss Seidel impulse solver.
Definition: PGSImpulseSolver.h:55
bool solve(int phase, const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Array_< MultiplierIndex > &expanding, Vector &piExpand, Vector &verrStart, Vector &verrApplied, Vector &pi, Array_< UncondRT > &unconditional, Array_< UniContactRT > &uniContact, Array_< UniSpeedRT > &uniSpeed, Array_< BoundedRT > &bounded, Array_< ConstraintLtdFrictionRT > &consLtdFriction, Array_< StateLtdFrictionRT > &stateLtdFriction) const override
Solve with conditional constraints.
bool solveBilateral(const Array_< MultiplierIndex > &participating, const Matrix &A, const Vector &D, const Vector &rhs, Vector &pi) const override
Solve with only unconditional constraints.
PGSImpulseSolver(Real roll2slipTransitionSpeed)
Definition: PGSImpulseSolver.h:57
This is the top-level SimTK namespace into which all SimTK names are placed to avoid collision with o...
Definition: Assembler.h:37
SimTK_Real Real
This is the default compiled-in floating point type for SimTK, either float or double.
Definition: SimTKcommon/include/SimTKcommon/internal/common.h:607