pbat::gpu::impl::xpbd::Integrator Class Reference

Public Types
using	EConstraint = pbat::sim::xpbd::EConstraint
using	Data = pbat::sim::xpbd::Data

Public Member Functions
	Integrator (Data const &data)
	Construct a new Integrator Impl object.
void	Step (GpuScalar dt, GpuIndex iterations, GpuIndex substeps)
void	SetCompliance (Eigen::Ref< GpuMatrixX const > const &alpha, EConstraint eConstraint)
void	SetFrictionCoefficients (GpuScalar muS, GpuScalar muK)
void	SetSceneBoundingBox (Eigen::Vector< GpuScalar, 3 > const &min, Eigen::Vector< GpuScalar, 3 > const &max)
common::Buffer< GpuScalar > const &	GetLagrangeMultiplier (EConstraint eConstraint) const
common::Buffer< GpuScalar > const &	GetCompliance (EConstraint eConstraint) const
void	ProjectBlockNeoHookeanConstraints (GpuScalar dt, GpuScalar dt2)
void	ProjectClusteredBlockNeoHookeanConstraints (GpuScalar dt, GpuScalar dt2)
void	ProjectCollisionConstraints (GpuScalar dt, GpuScalar dt2)

Public Attributes
common::Buffer< GpuScalar, 3 >	x
	Vertex/particle positions.
common::Buffer< GpuIndex, 4 >	T
	Tetrahedral simplices.
contact::VertexTriangleMixedCcdDcd	cd
	Contact detection system.
common::Buffer< GpuScalar, 3 >	xt
	Vertex/particle positions at time t.
common::Buffer< GpuScalar, 3 >	xb
	Vertex/particle positions buffer.
common::Buffer< GpuScalar, 3 >	v
	Vertex/particle velocities.
common::Buffer< GpuScalar, 3 >	aext
	Vertex/particle external forces.
common::Buffer< GpuScalar >	minv
	Vertex/particle mass inverses.
common::Buffer< GpuScalar >	lame
	Lame coefficients.
common::Buffer< GpuScalar >	DmInv
	3x3x|#elements| array of material shape matrix inverses
common::Buffer< GpuScalar >	gamma
std::array< common::Buffer< GpuScalar >, kConstraintTypes >	lagrange
std::array< common::Buffer< GpuScalar >, kConstraintTypes >	alpha
std::array< common::Buffer< GpuScalar >, kConstraintTypes >	beta
std::vector< Index >	Pptr
	Constraint partitions' pointers.
common::Buffer< GpuIndex >	Padj
	Constraint partitions' constraints.
std::vector< Index >	SGptr
	Clustered constraint partitions' pointers.
common::Buffer< GpuIndex >	SGadj
	Clustered constraint partitions' constraints.
common::Buffer< Index >	Cptr
	Cluster -> constraint map pointers.
common::Buffer< GpuIndex >	Cadj
	Cluster -> constraint map constraints.
common::Buffer< GpuScalar >	muC
	Collision vertex penalties.
GpuScalar	muS
	Coulomb static friction coefficient.
GpuScalar	muK
	Coulomb dynamic friction coefficient.
Eigen::Vector< GpuScalar, 3 >	Smin
Eigen::Vector< GpuScalar, 3 >	Smax
	Scene bounding box.
GpuIndex	mActiveSetUpdateFrequency
	Active set update frequency.

Static Public Attributes
static auto constexpr	kConstraintTypes = static_cast<int>(EConstraint::NumberOfConstraintTypes)

Constructor & Destructor Documentation

Integrator()

pbat::gpu::impl::xpbd::Integrator::Integrator

(

Data const &

data

)

Construct a new Integrator Impl object.

Parameters

data

Member Function Documentation

GetCompliance()

common::Buffer< GpuScalar > const & pbat::gpu::impl::xpbd::Integrator::GetCompliance

(

EConstraint

eConstraint

)

const

Parameters

eConstraint

Returns

GetLagrangeMultiplier()

common::Buffer< GpuScalar > const & pbat::gpu::impl::xpbd::Integrator::GetLagrangeMultiplier

(

EConstraint

eConstraint

)

const

Parameters

eConstraint

Returns

SetCompliance()

void pbat::gpu::impl::xpbd::Integrator::SetCompliance	(	Eigen::Ref< GpuMatrixX const > const &	alpha,
		EConstraint	eConstraint )

Parameters

alpha
eConstraint

SetFrictionCoefficients()

void pbat::gpu::impl::xpbd::Integrator::SetFrictionCoefficients	(	GpuScalar	muS,
		GpuScalar	muK )

Parameters

muS
muK

SetSceneBoundingBox()

void pbat::gpu::impl::xpbd::Integrator::SetSceneBoundingBox	(	Eigen::Vector< GpuScalar, 3 > const &	min,
		Eigen::Vector< GpuScalar, 3 > const &	max )

Parameters

min
max

Step()

void pbat::gpu::impl::xpbd::Integrator::Step	(	GpuScalar	dt,
		GpuIndex	iterations,
		GpuIndex	substeps )

Parameters

dt
iterations
substeps

Member Data Documentation

alpha

std::array<common::Buffer<GpuScalar>, kConstraintTypes> pbat::gpu::impl::xpbd::Integrator::alpha

Compliance alpha[0] -> Stable Neo-Hookean constraint compliance alpha[1] -> Collision penalty constraint compliance

beta

std::array<common::Buffer<GpuScalar>, kConstraintTypes> pbat::gpu::impl::xpbd::Integrator::beta

Damping beta[0] -> Stable Neo-Hookean constraint damping beta[1] -> Collision penalty constraint damping

gamma

common::Buffer<GpuScalar> pbat::gpu::impl::xpbd::Integrator::gamma

1. + mu/lambda, where mu,lambda are Lame coefficients

lagrange

std::array<common::Buffer<GpuScalar>, kConstraintTypes> pbat::gpu::impl::xpbd::Integrator::lagrange

"Lagrange" multipliers: lambda[0] -> Stable Neo-Hookean constraint multipliers lambda[1] -> Collision penalty constraint multipliers

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The documentation for this class was generated from the following files:

• C:/git/PhysicsBasedAnimationToolkit/source/pbat/gpu/impl/xpbd/Integrator.cuh
• C:/git/PhysicsBasedAnimationToolkit/source/pbat/gpu/impl/xpbd/Integrator.cu