Integrator.h

#ifndef PBAT_SIM_XPBD_INTEGRATOR_H
#define PBAT_SIM_XPBD_INTEGRATOR_H
 
#include "Data.h"
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/Aliases.h"
#include "pbat/geometry/TetrahedralAabbHierarchy.h"
#include "pbat/geometry/TriangleAabbHierarchy.h"
 
namespace pbat {
namespace sim {
namespace xpbd {
 
class Integrator
{
  public:
    PBAT_API Integrator(Data data);
 
    PBAT_API void Step(Scalar dt, Index iterations, Index substeps = Index{1});
 
    Data data;
 
  protected:
    void ProjectBlockNeoHookeanConstraints(Scalar dt, Scalar dt2);
    void ProjectClusteredBlockNeoHookeanConstraints(Scalar dt, Scalar dt2);
    void ProjectContactConstraints(Scalar dt, Scalar dt2);
    void ProjectBlockNeoHookeanConstraint(Index c, Scalar dt, Scalar dt2);
 
  private:
    geometry::TetrahedralAabbHierarchy mTetrahedralBvh;
    geometry::TriangleAabbHierarchy3D mTriangleBvh;
    std::vector<Index> mParticlesInContact;
 
    IndexVectorX mTetsInContact;
    IndexVectorX mTrianglesInContact;
    VectorX mSquaredDistancesToTriangles;
};
 
} // namespace xpbd
} // namespace sim
} // namespace pbat
 
#endif // PBAT_SIM_XPBD_INTEGRATOR_H