Public Member Functions
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)
	See Ton-That et al. 2023 [14] for more details.

PBAT_API Data &	WithDirichletConstrainedVertices (IndexVectorX const &dbc)

PBAT_API Data &	Construct (bool bValidate=true)

Public Attributes
IndexVectorX	V
	\|#collision vertices\| array of indices into columns of x

IndexMatrixX	F

IndexMatrixX	T
	Tetrahedra.

IndexVectorX	BV
	\|#particles\| array of body indices

MatrixX	x
	Vertex positions.

MatrixX	v
	Vertex velocities.

MatrixX	aext
	Vertex external accelerations.

VectorX	minv
	Vertex mass inverses.

MatrixX	xt
	Vertex positions at time t.

MatrixX	xb
	Vertex positions buffer for contact.

MatrixX	lame
	2x\|#quad.pts.\| Lame coefficients

MatrixX	DmInv
	3x3x\|#elements\| array of material shape matrix inverses

VectorX	gammaSNH

VectorX	muV
	\|#collision vertices\| array of collision penalties

Scalar	muS {0.3}
	Static friction coefficient.

Scalar	muD {0.2}
	Dynamic friction coefficient.

Index	mActiveSetUpdateFrequency {1}
	Contact active set update frequency.

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
	Dirichlet constrained vertices.

std::vector< Index >	Pptr
	Compressed sparse storage's pointers for constraint partitions.

std::vector< Index >	Padj
	Compressed sparse storage's edges for constraint indices.

std::vector< Index >	SGptr
	Supernodal constraint graph's partition pointers.

std::vector< Index >	SGadj
	Supernodal constraint graph's partition adjacency.

std::vector< Index >	Cptr

std::vector< Index >	Cadj
	Constraint indices in each cluster.

Member Function Documentation

◆ WithClusterPartitions()

Data & pbat::sim::xpbd::Data::WithClusterPartitions	(	std::vector< Index > const &	SGptr,
		std::vector< Index > const &	SGadj,
		std::vector< Index > const &	Cptr,
		std::vector< Index > const &	Cadj )

See Ton-That et al. 2023 [14] for more details.

Parameters

std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)> pbat::sim::xpbd::Data::alpha

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

std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)> pbat::sim::xpbd::Data::beta

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

std::vector<Index> pbat::sim::xpbd::Data::Cptr

Flattened cluster pointers, where [Cptr[c], Cptr[c+1]) gives indices into C to obtain cluster c's constraints

IndexMatrixX pbat::sim::xpbd::Data::F

3x|#triangles| array of collision triangles (on the boundary of T), indexing into columns of x

VectorX pbat::sim::xpbd::Data::gammaSNH

std::array<VectorX, static_cast<int>(EConstraint::NumberOfConstraintTypes)> pbat::sim::xpbd::Data::lambda

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

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