Integrator.h

#ifndef PBAT_SIM_VBD_INTEGRATOR_H
#define PBAT_SIM_VBD_INTEGRATOR_H
 
#include "Data.h"
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/Aliases.h"
 
#include <string>
#include <vector>
 
namespace pbat {
namespace sim {
namespace vbd {
 
class Integrator
{
  public:
    PBAT_API Integrator(Data data);
 
    PBAT_API void Step(Scalar dt, Index iterations, Index substeps = Index{1});
    PBAT_API void TraceNextStep(std::string const& path = ".", Index t = -1);
 
    Data data;
 
    PBAT_API virtual ~Integrator() = default;
 
  protected:
    PBAT_API void InitializeSolve(Scalar sdt, Scalar sdt2);
    PBAT_API void RunVbdIteration(Scalar sdt, Scalar sdt2);
    PBAT_API virtual void Solve(Scalar sdt, Scalar sdt2, Index iterations);
    PBAT_API void SolveVertex(Index i, Scalar sdt, Scalar sdt2);

  public:
    PBAT_API Scalar ObjectiveFunction(
        Eigen::Ref<MatrixX const> const& xk,
        Eigen::Ref<MatrixX const> const& xtilde,
        Scalar dt);
    PBAT_API VectorX ObjectiveFunctionGradient(
        Eigen::Ref<MatrixX const> const& xk,
        Eigen::Ref<MatrixX const> const& xtilde,
        Scalar dt);
 
  protected:
    PBAT_API void ExportTrace(Scalar sdt, Index substep);
    PBAT_API void TryTraceIteration(Scalar sdt);
 
  private:
    bool mTraceIterates{false};
    std::string mTracePath{"."};
    Index mTimeStep{-1};
    std::vector<Scalar> mTracedObjectives;
    std::vector<VectorX> mTracedGradients;
    std::vector<MatrixX> mTracedPositions;
};
 
} // namespace vbd
} // namespace sim
} // namespace pbat
 
#endif // PBAT_SIM_VBD_INTEGRATOR_H