Integrator.h

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#ifndef PBAT_GPU_VBD_INTEGRATOR_H
#define PBAT_GPU_VBD_INTEGRATOR_H
 
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/gpu/Aliases.h"
#include "pbat/sim/vbd/Data.h"
#include "pbat/sim/vbd/Enums.h"
 
#include <string_view>
 
namespace pbat::gpu::impl::vbd {
class Integrator;
} // namespace pbat::gpu::impl::vbd
 
namespace pbat {
namespace gpu {
namespace vbd {

class Integrator
{
  public:
    using EInitializationStrategy =
        pbat::sim::vbd::EInitializationStrategy; 
    using Data = pbat::sim::vbd::Data;           

    PBAT_API
    Integrator(Data const& data);
 
    Integrator(Integrator const&)            = delete;
    Integrator& operator=(Integrator const&) = delete;
    PBAT_API Integrator(Integrator&& other) noexcept;
    PBAT_API Integrator& operator=(Integrator&& other) noexcept;
    PBAT_API ~Integrator();

    PBAT_API void Step(GpuScalar dt, GpuIndex iterations, GpuIndex substeps = GpuIndex{1});
    PBAT_API void TracedStep(
        GpuScalar dt,
        GpuIndex iterations,
        GpuIndex substeps,
        GpuIndex t,
        std::string_view dir = ".");
    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 SetNumericalZeroForHessianDeterminant(GpuScalar zero);
    PBAT_API void SetRayleighDampingCoefficient(GpuScalar kD);
    PBAT_API void SetInitializationStrategy(EInitializationStrategy strategy);
    PBAT_API void SetBlockSize(GpuIndex blockSize);
    PBAT_API void SetSceneBoundingBox(
        Eigen::Vector<GpuScalar, 3> const& min,
        Eigen::Vector<GpuScalar, 3> const& max);
    PBAT_API GpuMatrixX GetPositions() const;
    PBAT_API GpuMatrixX GetVelocities() const;
 
  private:
    impl::vbd::Integrator* mImpl;
};
 
} // namespace vbd
} // namespace gpu
} // namespace pbat
 
#endif // PBAT_GPU_VBD_INTEGRATOR_H