Create constants for solving several optional linear systems of rolling friction
@@ -551,7 +551,7 @@ enum SICONOS_FRICTION_3D_IPM_IPARAM_ENUM
/** index in iparam to choose the linear system formulation **/
SICONOS_FRICTION_3D_IPM_IPARAM_LS_FORM = 10,
/** index in iparam to perform iterative refinement with MA57 (LDT) **/
- SICONOS_FRICTION_3D_IPM_IPARAM_REFINEMENT = 15
+ SICONOS_FRICTION_3D_IPM_IPARAM_REFINEMENT = 9
};
enum SICONOS_FRICTION_3D_IPM_DPARAM_ENUM
@@ -596,7 +596,11 @@ enum SICONOS_FRICTION_3D_IPM_IPARAM_LS_FORM_ENUM
SICONOS_FRICTION_3D_IPM_IPARAM_LS_3X3_QPH = 2,
SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_QP2 = 3,
SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_QPH = 4,
- SICONOS_FRICTION_3D_IPM_IPARAM_LS_1X1_QPH = 5
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_1X1_QPH = 5,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_JQJ = 10,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_invPH = 11,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_2X2_invPH_Chol = 12,
+ SICONOS_FRICTION_3D_IPM_IPARAM_LS_3X3_JQinv = 13,
};
enum SICONOS_FRICTION_3D_IPM_IPARAM_FINISH_WITHOUT_SCALING_ENUM
