Commit 2cbd3cdd authored by Pierre Fernbach's avatar Pierre Fernbach
Browse files

add mutator : setAlgorithm

parent b6cd5e1e
......@@ -119,6 +119,8 @@ public:
EquilibriumAlgorithm getAlgorithm(){ return m_algorithm; }
void setAlgorithm(EquilibriumAlgorithm algorithm);
/**
* @brief Specify a new set of contacts.
* All 3d vectors are expressed in a reference frame having the z axis aligned with gravity.
......
......@@ -130,6 +130,13 @@ bool Equilibrium::computeGenerators(Cref_matrixX3 contactPoints, Cref_matrixX3 c
return true;
}
void Equilibrium::setAlgorithm(EquilibriumAlgorithm algorithm){
if(algorithm == EQUILIBRIUM_ALGORITHM_PP && m_G_centr.rows() > 0)
SEND_DEBUG_MSG("Cannot set algorithm to PP after setting contacts, you should call again setNewContact with PP algorithm");
else
m_algorithm = algorithm;
}
bool Equilibrium::setNewContacts(const MatrixX3ColMajor& contactPoints, const MatrixX3ColMajor& contactNormals,
const double frictionCoefficient, const EquilibriumAlgorithm alg)
{
......
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