Data.h

#ifndef PBAT_SIM_VBD_DATA_H
#define PBAT_SIM_VBD_DATA_H
 
#include "Enums.h"
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/Aliases.h"
#include "pbat/graph/Enums.h"
 
namespace pbat::sim::vbd {

struct Data
{
  public:
    static auto constexpr kDims = 3; 
    PBAT_API Data&
    WithVolumeMesh(Eigen::Ref<MatrixX const> const& X, 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& B);
    PBAT_API Data& WithVelocity(Eigen::Ref<MatrixX const> const& v);
    PBAT_API Data& WithAcceleration(Eigen::Ref<MatrixX const> const& aext);
    PBAT_API Data& WithMaterial(
        Eigen::Ref<VectorX const> const& rhoe,
        Eigen::Ref<VectorX const> const& mue,
        Eigen::Ref<VectorX const> const& lambdae);
    PBAT_API Data& WithDirichletConstrainedVertices(
        IndexVectorX const& dbc,
        Scalar muD      = Scalar(1),
        bool bDbcSorted = false);
    PBAT_API Data& WithVertexColoringStrategy(
        graph::EGreedyColorOrderingStrategy eOrdering,
        graph::EGreedyColorSelectionStrategy eSelection);
    PBAT_API Data& WithInitializationStrategy(EInitializationStrategy strategy);
    PBAT_API Data& WithRayleighDamping(Scalar kD);
    PBAT_API Data& WithContactParameters(Scalar muC, Scalar muF, Scalar epsv);
    PBAT_API Data& WithActiveSetUpdateFrequency(Index activeSetUpdateFrequency);
    PBAT_API Data& WithHessianDeterminantZeroUnder(Scalar zero);
    PBAT_API Data& WithChebyshevAcceleration(Scalar rho);
    PBAT_API Data& WithAndersonAcceleration(Index window);
    PBAT_API Data& WithBroydenMethod(Index window);
    PBAT_API Data& WithNesterovAcceleration(Scalar L, Index start = 3);
    PBAT_API Data& WithTrustRegionAcceleration(Scalar eta, Scalar tau, bool bCurved = true);
    PBAT_API Data& Construct(bool bValidate = true);
 
  public:
    // Simulation mesh
    Matrix<kDims, Eigen::Dynamic> X;  
    IndexMatrix<4, Eigen::Dynamic> E; 
 
    // Collision mesh
    IndexVectorX B; 
    IndexVectorX V; 
    IndexMatrix<3, Eigen::Dynamic>
        F;       
    VectorX XVA; 
    VectorX FA;  
 
    // Vertex data
    Matrix<kDims, Eigen::Dynamic> x;    
    Matrix<kDims, Eigen::Dynamic> v;    
    Matrix<kDims, Eigen::Dynamic> aext; 
    VectorX m;                          
 
    Matrix<kDims, Eigen::Dynamic> xt;     
    Matrix<kDims, Eigen::Dynamic> xtilde; 
    Matrix<kDims, Eigen::Dynamic> vt;     
 
    // Element data
    VectorX wg; 
    Matrix<4, Eigen::Dynamic>
        GP;       
    VectorX rhoe; 
    Matrix<2, Eigen::Dynamic> lame; 
 
    // Vertex-element adjacency graph
    IndexVectorX GVGp;      
    IndexVectorX GVGe;      
    IndexVectorX GVGilocal; 
 
    // Dirichlet boundary conditions
    Scalar muD{1};    
    IndexVectorX dbc; 
 
    // Parallelization
    graph::EGreedyColorOrderingStrategy eOrdering{
        graph::EGreedyColorOrderingStrategy::LargestDegree}; 

    graph::EGreedyColorSelectionStrategy eSelection{
        graph::EGreedyColorSelectionStrategy::LeastUsed}; 

    IndexVectorX colors;                                  
    IndexVectorX Pptr; 
    IndexVectorX Padj; 
 
    // Time integration optimization parameters
    EInitializationStrategy strategy{
        EInitializationStrategy::AdaptivePbat}; 
    Scalar kD{0};                               
    Scalar muC{1e6};                            
    Scalar muF{0.3};                            
    Scalar epsv{1e-3}; 
    Index mActiveSetUpdateFrequency{1}; 
    Scalar detHZero{1e-7};              
    EAccelerationStrategy eAcceleration{EAccelerationStrategy::None}; 
 
    // Chebyshev acceleration
    Scalar rho{1}; 
 
    // Anderson acceleration
    Index mWindowSize{5}; 
 
    // Nesterov
    Scalar mNesterovLipschitzConstant{1}; 
    Index mNesterovAccelerationStart{3};  
 
    // Trust Region acceleration
    Scalar eta{0.2};    
    Scalar tau{2};      
    bool bCurved{true}; 
};
 
} // namespace pbat::sim::vbd
 
#endif // PBAT_SIM_VBD_DATA_H