Integrator.h

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#ifndef PBAT_GPU_XPBD_INTEGRATOR_H
#define PBAT_GPU_XPBD_INTEGRATOR_H
 
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/gpu/Aliases.h"
#include "pbat/sim/xpbd/Data.h"
#include "pbat/sim/xpbd/Enums.h"
 
#include <array>
#include <vector>
 
namespace pbat::gpu::impl::xpbd {
class Integrator;
} // namespace pbat::gpu::impl::xpbd
 
namespace pbat {
namespace gpu {
namespace xpbd {

class Integrator
{
  public:
    using Data = pbat::sim::xpbd::Data; 
    using EConstraint = pbat::sim::xpbd::EConstraint; 
 
    // Constructors
    PBAT_API Integrator(Data const& data);
    Integrator(Integrator const&)            = delete;
    Integrator& operator=(Integrator const&) = delete;
    PBAT_API Integrator(Integrator&&) noexcept;
    PBAT_API Integrator& operator=(Integrator&&) noexcept;
    PBAT_API void Step(GpuScalar dt, GpuIndex iterations, GpuIndex substeps);
    PBAT_API GpuMatrixX Positions() const;
    PBAT_API void SetPositions(Eigen::Ref<GpuMatrixX const> const& X);
    PBAT_API void SetVelocities(Eigen::Ref<GpuMatrixX const> const& v);
    PBAT_API void SetExternalAcceleration(Eigen::Ref<GpuMatrixX const> const& aext);
    PBAT_API void SetMassInverse(Eigen::Ref<GpuMatrixX const> const& minv);
    PBAT_API void SetLameCoefficients(Eigen::Ref<GpuMatrixX const> const& l);
    PBAT_API void SetCompliance(Eigen::Ref<GpuMatrixX const> const& alpha, EConstraint eConstraint);
    PBAT_API void SetFrictionCoefficients(GpuScalar muS, GpuScalar muK);
    PBAT_API void SetSceneBoundingBox(
        Eigen::Vector<GpuScalar, 3> const& min,
        Eigen::Vector<GpuScalar, 3> const& max);
    PBAT_API GpuMatrixX GetVelocity() const;
    PBAT_API GpuMatrixX GetExternalAcceleration() const;
    PBAT_API GpuVectorX GetMassInverse() const;
    PBAT_API GpuMatrixX GetLameCoefficients() const;
    PBAT_API GpuMatrixX GetShapeMatrixInverse() const;
    PBAT_API GpuMatrixX GetRestStableGamma() const;
    PBAT_API GpuMatrixX GetLagrangeMultiplier(EConstraint eConstraint) const;
    PBAT_API GpuMatrixX GetCompliance(EConstraint eConstraint) const;
    PBAT_API ~Integrator();
 
  private:
    impl::xpbd::Integrator* mImpl;
};
 
} // namespace xpbd
} // namespace gpu
} // namespace pbat
 
#endif // PBAT_GPU_XPBD_INTEGRATOR_H