/*****************************************************************************
The Dark Mod GPL Source Code
This file is part of the The Dark Mod Source Code, originally based
on the Doom 3 GPL Source Code as published in 2011.
The Dark Mod Source Code is free software: you can redistribute it
and/or modify it under the terms of the GNU General Public License as
published by the Free Software Foundation, either version 3 of the License,
or (at your option) any later version. For details, see LICENSE.TXT.
Project: The Dark Mod (http://www.thedarkmod.com/)
******************************************************************************/
#ifndef __MATH_LCP_H__
#define __MATH_LCP_H__
/*
===============================================================================
Box Constrained Mixed Linear Complementarity Problem solver
A is a matrix of dimension n*n and x, b, lo, hi are vectors of dimension n
Solve: Ax = b + t, where t is a vector of dimension n, with
complementarity condition: (x[i] - lo[i]) * (x[i] - hi[i]) * t[i] = 0
such that for each 0 <= i < n one of the following holds:
1. lo[i] < x[i] < hi[i], t[i] == 0
2. x[i] == lo[i], t[i] >= 0
3. x[i] == hi[i], t[i] <= 0
Partly bounded or unbounded variables can have lo[i] and/or hi[i]
set to negative/positive idMath::INFITITY respectively.
If boxIndex != NULL and boxIndex[i] != -1 then
lo[i] = - fabs( lo[i] * x[boxIndex[i]] )
hi[i] = fabs( hi[i] * x[boxIndex[i]] )
boxIndex[boxIndex[i]] must be -1
Before calculating any of the bounded x[i] with boxIndex[i] != -1 the
solver calculates all unbounded x[i] and all x[i] with boxIndex[i] == -1.
===============================================================================
*/
class idLCP {
public:
static idLCP * AllocSquare( void ); // A must be a square matrix
static idLCP * AllocSymmetric( void ); // A must be a symmetric matrix
virtual ~idLCP( void );
virtual bool Solve( const idMatX &A, idVecX &x, const idVecX &b, const idVecX &lo, const idVecX &hi, const int *boxIndex = NULL ) = 0;
virtual void SetMaxIterations( int max );
virtual int GetMaxIterations( void );
protected:
int maxIterations;
};
#endif /* !__MATH_LCP_H__ */