Data.h

#ifndef PBAT_SIM_XPBD_DATA_H
#define PBAT_SIM_XPBD_DATA_H
 
#include "Enums.h"
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/Aliases.h"
 
#include <array>
 
namespace pbat {
namespace sim {
namespace xpbd {
 
struct Data
{
  public:
    PBAT_API Data&
    WithVolumeMesh(Eigen::Ref<MatrixX const> const& V, Eigen::Ref<IndexMatrixX const> const& E);
    PBAT_API Data& WithSurfaceMesh(
        Eigen::Ref<IndexVectorX const> const& V,
        Eigen::Ref<IndexMatrixX const> const& F);
    PBAT_API Data& WithBodies(Eigen::Ref<IndexVectorX const> const& BV);
    PBAT_API Data& WithVelocity(Eigen::Ref<MatrixX const> const& v);
    PBAT_API Data& WithAcceleration(Eigen::Ref<MatrixX const> const& aext);
    PBAT_API Data& WithMassInverse(Eigen::Ref<VectorX const> const& minv);
    PBAT_API Data& WithElasticMaterial(Eigen::Ref<MatrixX const> const& lame);
    PBAT_API Data& WithCollisionPenalties(Eigen::Ref<VectorX const> const& muV);
    PBAT_API Data& WithFrictionCoefficients(Scalar muS, Scalar muD);
    PBAT_API Data& WithActiveSetUpdateFrequency(Index frequency);
    PBAT_API Data& WithDamping(Eigen::Ref<VectorX> const& beta, EConstraint constraint);
    PBAT_API Data& WithCompliance(Eigen::Ref<VectorX> const& alpha, EConstraint constraint);
    PBAT_API Data& WithPartitions(std::vector<Index> const& Pptr, std::vector<Index> const& Padj);
    PBAT_API Data& WithClusterPartitions(
        std::vector<Index> const& SGptr,
        std::vector<Index> const& SGadj,
        std::vector<Index> const& Cptr,
        std::vector<Index> const& Cadj);
    PBAT_API Data& WithDirichletConstrainedVertices(IndexVectorX const& dbc);
    PBAT_API Data& Construct(bool bValidate = true);
 
  public:
    IndexVectorX V; 
    IndexMatrixX F; 
    IndexMatrixX T; 
 
    IndexVectorX BV; 
 
    MatrixX x;    
    MatrixX v;    
    MatrixX aext; 
    VectorX minv; 
 
    MatrixX xt; 
    MatrixX xb; 
 
    MatrixX lame;     
    MatrixX DmInv;    
    VectorX gammaSNH; 
 
    VectorX muV;                        
    Scalar muS{0.3};                    
    Scalar muD{0.2};                    
    Index mActiveSetUpdateFrequency{1}; 
 
    std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)>
        alpha; 
    std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)>
        beta; 
    std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)>
        lambda; 
 
    IndexVectorX dbc; 
 
    std::vector<Index> Pptr; 
    std::vector<Index> Padj; 
 
    std::vector<Index> SGptr; 
    std::vector<Index> SGadj; 
    std::vector<Index> Cptr;  
    std::vector<Index> Cadj;  
};
 
} // namespace xpbd
} // namespace sim
} // namespace pbat
 
#endif // PBAT_SIM_XPBD_DATA_H