BroydenIntegrator.h

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#ifndef PBAT_SIM_VBD_BROYDENINTEGRATOR_H
#define PBAT_SIM_VBD_BROYDENINTEGRATOR_H
 
#include "Integrator.h"
#include "PhysicsBasedAnimationToolkitExport.h"
 
#include <Eigen/SparseCholesky>
 
namespace pbat::sim::vbd {

class BroydenIntegrator : public Integrator
{
  public:
    PBAT_API BroydenIntegrator(Data data);
 
  protected:
    virtual void Solve(Scalar sdt, Scalar sdt2, Index iterations) override;
 
  private:
    MatrixX GvbdFk;  
    MatrixX Xk;      
    VectorX gammak;  
    VectorX xkm1;    
    VectorX vbdfk;   
    VectorX vbdfkm1; 
 
    // Eigen::SimplicialLDLT<Eigen::SparseMatrix<Scalar, Eigen::ColMajor, Index>>
    //     Gkm; ///< VBD preconditioner
};
 
} // namespace pbat::sim::vbd
 
#endif // PBAT_SIM_VBD_BROYDENINTEGRATOR_H