LCPSolver.h

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00001 /******************************************************************************
00002 *       SOFA, Simulation Open-Framework Architecture, version 1.0 beta 3      *
00003 *                (c) 2006-2008 MGH, INRIA, USTL, UJF, CNRS                    *
00004 *                                                                             *
00005 * This library is free software; you can redistribute it and/or modify it     *
00006 * under the terms of the GNU Lesser General Public License as published by    *
00007 * the Free Software Foundation; either version 2.1 of the License, or (at     *
00008 * your option) any later version.                                             *
00009 *                                                                             *
00010 * This library is distributed in the hope that it will be useful, but WITHOUT *
00011 * ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or       *
00012 * FITNESS FOR A PARTICULAR PURPOSE. See the GNU Lesser General Public License *
00013 * for more details.                                                           *
00014 *                                                                             *
00015 * You should have received a copy of the GNU Lesser General Public License    *
00016 * along with this library; if not, write to the Free Software Foundation,     *
00017 * Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301 USA.          *
00018 *******************************************************************************
00019 *                              SOFA :: Framework                              *
00020 *                                                                             *
00021 * Authors: M. Adam, J. Allard, B. Andre, P-J. Bensoussan, S. Cotin, C. Duriez,*
00022 * H. Delingette, F. Falipou, F. Faure, S. Fonteneau, L. Heigeas, C. Mendoza,  *
00023 * M. Nesme, P. Neumann, J-P. de la Plata Alcade, F. Poyer and F. Roy          *
00024 *                                                                             *
00025 * Contact information: contact@sofa-framework.org                             *
00026 ******************************************************************************/
00027 #ifndef SOFA_HELPER_LCPSOLVER_H
00028 #define SOFA_HELPER_LCPSOLVER_H
00029 
00030 namespace sofa
00031 {
00032 
00033 namespace helper
00034 {
00035 
00036 template <int dim>
00037 class LCPSolver {
00038 public:
00039     typedef double Matrix[dim][dim]; 
00040 
00041     bool  solve(const double *q, const Matrix &M, double *res);
00042     void  printInfo(double *q, Matrix &M);
00043 };
00044 
00045 } // namespace helper
00046 
00047 } // namespace sofa
00048 
00049 #endif