AndersonIntegrator.h

Go to the documentation of this file.

 
#ifndef PBAT_SIM_VBD_ANDERSONINTEGRATOR_H
#define PBAT_SIM_VBD_ANDERSONINTEGRATOR_H
 
#include "Integrator.h"
#include "PhysicsBasedAnimationToolkitExport.h"
 
namespace pbat::sim::vbd {

class AndersonIntegrator : public Integrator
{
  public:
    PBAT_API AndersonIntegrator(Data data);
 
  protected:
    virtual void Solve(Scalar sdt, Scalar sdt2, Index iterations) override;
 
  private:
    VectorX Fk;   
    VectorX Fkm1; 
    VectorX Gkm1; 
    VectorX xkm1; 
    MatrixX DFK; 
    MatrixX DGK; 
    VectorX alpha; 
};
 
} // namespace pbat::sim::vbd
 
#endif // PBAT_SIM_VBD_ANDERSONINTEGRATOR_H