SolveMlcp.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

#ifndef SURGSIM_PHYSICS_SOLVEMLCP_H
#define SURGSIM_PHYSICS_SOLVEMLCP_H

#include <memory>

#include "SurgSim/Framework/Macros.h"
#include "SurgSim/Math/MlcpGaussSeidelSolver.h"
#include "SurgSim/Physics/Computation.h"

namespace SurgSim
{
namespace Physics
{

class SolveMlcp : public Computation
{
public:
    explicit SolveMlcp(bool doCopyState = false);

    SURGSIM_CLASSNAME(SurgSim::Physics::SolveMlcp);

    virtual ~SolveMlcp();

    void setMaxIterations(size_t maxIterations);

    size_t getMaxIterations() const;

    void setPrecision(double epsilon);

    double getPrecision() const;

    void setContactTolerance(double epsilon);

    double getContactTolerance() const;

protected:

    std::shared_ptr<PhysicsManagerState> doUpdate(const double& dt, const std::shared_ptr<PhysicsManagerState>& state)
        override;

private:

    SurgSim::Math::MlcpGaussSeidelSolver m_gaussSeidelSolver;
};

}; // Physics
}; // SurgSim

#endif // SURGSIM_PHYSICS_SOLVEMLCP_H