Integrator.cuh

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#ifndef PBAT_GPU_IMPL_VBD_INTEGRATOR_H
#define PBAT_GPU_IMPL_VBD_INTEGRATOR_H
 
#include "pbat/gpu/Aliases.h"
#include "pbat/gpu/impl/common/Buffer.cuh"
#include "pbat/gpu/impl/contact/VertexTriangleMixedCcdDcd.cuh"
#include "pbat/sim/vbd/Data.h"
#include "pbat/sim/vbd/Enums.h"
// clang-format off
#include "Kernels.cuh"
// clang-format on
 
#include <cuda/api/stream.hpp>
#include <string_view>
#include <vector>
 
namespace pbat::gpu::impl::vbd {

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

    Integrator(Data const& data);
    void Step(GpuScalar dt, GpuIndex iterations, GpuIndex substeps = GpuIndex{1});
    void TracedStep(
        GpuScalar dt,
        GpuIndex iterations,
        GpuIndex substeps,
        GpuIndex t,
        std::string_view dir = ".");
    void SetSceneBoundingBox(
        Eigen::Vector<GpuScalar, 3> const& min,
        Eigen::Vector<GpuScalar, 3> const& max);
    void SetBlockSize(GpuIndex blockSize);

    void InitializeActiveSet(GpuScalar dt);
    void ComputeInertialTargets(GpuScalar sdt, GpuScalar sdt2);
    void InitializeBcdSolution(GpuScalar sdt, GpuScalar sdt2);
    void UpdateActiveSet();
    virtual void Solve(kernels::BackwardEulerMinimization& bdf, GpuIndex iterations);
    void TracedSolve(
        kernels::BackwardEulerMinimization& bdf,
        GpuIndex iterations,
        GpuIndex t,
        GpuIndex s,
        std::string_view dir);
    void RunVbdIteration(kernels::BackwardEulerMinimization& bdf);
    void UpdateBdfState(GpuScalar sdt);
 
  public:
    common::Buffer<GpuScalar, 3> x; 
    common::Buffer<GpuIndex, 4> T;  
 
    Eigen::Vector<GpuScalar, 3> mWorldMin; 
    Eigen::Vector<GpuScalar, 3> mWorldMax; 
    GpuIndex mActiveSetUpdateFrequency;    
    contact::VertexTriangleMixedCcdDcd cd; 
    common::Buffer<GpuIndex>
        fc; 
    common::Buffer<GpuScalar> XVA; 
    common::Buffer<GpuScalar> FA;  
 
    common::Buffer<GpuScalar, 3> mPositionsAtT;            
    common::Buffer<GpuScalar, 3> mInertialTargetPositions; 
    common::Buffer<GpuScalar, 3> xb; 
 
    common::Buffer<GpuScalar, 3> mVelocitiesAtT;        
    common::Buffer<GpuScalar, 3> mVelocities;           
    common::Buffer<GpuScalar, 3> mExternalAcceleration; 
    common::Buffer<GpuScalar> mMass;                    
 
    common::Buffer<GpuScalar> mQuadratureWeights; 
    common::Buffer<GpuScalar>
        mShapeFunctionGradients;                 
    common::Buffer<GpuScalar> mLameCoefficients; 
    GpuScalar mDetHZero;                         
 
    common::Buffer<GpuIndex>
        mVertexTetrahedronPrefix; 
    common::Buffer<GpuIndex>
        mVertexTetrahedronNeighbours; 
    common::Buffer<GpuIndex> mVertexTetrahedronLocalVertexIndices; 
 
    GpuScalar mRayleighDamping;                         
    GpuScalar mCollisionPenalty;                        
    GpuScalar mFrictionCoefficient;                     
    GpuScalar mSmoothFrictionRelativeVelocityThreshold; 
 
    GpuIndexVectorX mPptr; 
    common::Buffer<GpuIndex> mPadj; 
 
    EInitializationStrategy
        mInitializationStrategy;  
    GpuIndex mGpuThreadBlockSize; 
    cuda::stream_t mStream;       

    kernels::BackwardEulerMinimization BdfDeviceParameters(GpuScalar dt, GpuScalar dt2);
};
 
} // namespace pbat::gpu::impl::vbd
 
#endif // PBAT_GPU_IMPL_VBD_INTEGRATOR_H