pbat::gpu::xpbd::Integrator Class Reference

Public API of the GPU XPBD integrator. More...

#include <Integrator.h>

Public Types
using	Data = pbat::sim::xpbd::Data
	Input XPBD data constructor parameter object short name.
using	EConstraint = pbat::sim::xpbd::EConstraint
	Constraint type enumeration short name.

Public Member Functions
PBAT_API	Integrator (Data const &data)
	Construct a new Integrator object from the input XPBD data.
	Integrator (Integrator const &)=delete
Integrator &	operator= (Integrator const &)=delete
PBAT_API	Integrator (Integrator &&) noexcept
	Move constructor.
PBAT_API Integrator &	operator= (Integrator &&) noexcept
	Move assignment operator.
PBAT_API void	Step (GpuScalar dt, GpuIndex iterations, GpuIndex substeps)
	Step once in time.
PBAT_API GpuMatrixX	Positions () const
	Fetch the current positions from the GPU.
PBAT_API void	SetPositions (Eigen::Ref< GpuMatrixX const > const &X)
	Set the GPU vertex positions from the input CPU vertex positions.
PBAT_API void	SetVelocities (Eigen::Ref< GpuMatrixX const > const &v)
	Set the GPU vertex velocities from the input CPU vertex velocities.
PBAT_API void	SetExternalAcceleration (Eigen::Ref< GpuMatrixX const > const &aext)
	Set the GPU external acceleration from the input CPU external acceleration.
PBAT_API void	SetMassInverse (Eigen::Ref< GpuMatrixX const > const &minv)
	Set the GPU mass inverse from the input CPU mass inverse.
PBAT_API void	SetLameCoefficients (Eigen::Ref< GpuMatrixX const > const &l)
	Set the GPU Lame coefficients from the input CPU Lame coefficients.
PBAT_API void	SetCompliance (Eigen::Ref< GpuMatrixX const > const &alpha, EConstraint eConstraint)
	Set the GPU constraint compliances from the input CPU constraint compliances.
PBAT_API void	SetFrictionCoefficients (GpuScalar muS, GpuScalar muK)
	Set the friction coefficients to use for contact handling.
PBAT_API void	SetSceneBoundingBox (Eigen::Vector< GpuScalar, 3 > const &min, Eigen::Vector< GpuScalar, 3 > const &max)
	Set the world bounding box for the current time step.
PBAT_API GpuMatrixX	GetVelocity () const
	Fetch the vertex velocities from the GPU.
PBAT_API GpuMatrixX	GetExternalAcceleration () const
	Fetch the external acceleration from the GPU.
PBAT_API GpuVectorX	GetMassInverse () const
	Fetch the mass inverse from the GPU.
PBAT_API GpuMatrixX	GetLameCoefficients () const
	Fetch the Lame coefficients from the GPU.
PBAT_API GpuMatrixX	GetShapeMatrixInverse () const
	Fetch the shape matrix inverses from the GPU.
PBAT_API GpuMatrixX	GetRestStableGamma () const
	Fetch the Stable Neo-Hookean rest-stable gamma from the GPU [12].
PBAT_API GpuMatrixX	GetLagrangeMultiplier (EConstraint eConstraint) const
	Fetch the Lagrange multipliers from the GPU.
PBAT_API GpuMatrixX	GetCompliance (EConstraint eConstraint) const
	Fetch the compliance from the GPU.

Detailed Description

Public API of the GPU XPBD integrator.

Constructor & Destructor Documentation

Integrator() [1/2]

pbat::gpu::xpbd::Integrator::Integrator

(

Data const &

data

)

Construct a new Integrator object from the input XPBD data.

Parameters

data	Input XPBD data

Integrator() [2/2]

pbat::gpu::xpbd::Integrator::Integrator ( Integrator && other )

noexcept

Move constructor.

Parameters

other

Integrator to move from

Member Function Documentation

GetCompliance()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetCompliance

(

EConstraint

eConstraint

)

const

Fetch the compliance from the GPU.

Parameters

eConstraint

Type of constraint

Returns

|# constraints| vector of compliance for the given constraint type

GetExternalAcceleration()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetExternalAcceleration

(

)

const

Fetch the external acceleration from the GPU.

Returns

3x|# vertices| matrix of external accelerations

GetLagrangeMultiplier()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetLagrangeMultiplier

(

EConstraint

eConstraint

)

const

Fetch the Lagrange multipliers from the GPU.

Parameters

eConstraint

Type of constraint

Returns

|# constraints| vector of Lagrange multipliers for the given constraint type

GetLameCoefficients()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetLameCoefficients

(

)

const

Fetch the Lame coefficients from the GPU.

Returns

2x|# elements| vector of Lame coefficients

GetMassInverse()

GpuVectorX pbat::gpu::xpbd::Integrator::GetMassInverse

(

)

const

Fetch the mass inverse from the GPU.

Returns

|# vertices| vector of mass inverses

GetRestStableGamma()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetRestStableGamma

(

)

const

Fetch the Stable Neo-Hookean rest-stable gamma from the GPU [12].

Returns

|# elements| vector of rest-stable gamma

GetShapeMatrixInverse()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetShapeMatrixInverse

(

)

const

Fetch the shape matrix inverses from the GPU.

Returns

3x3x|# elements| matrix of shape matrix inverses

GetVelocity()

GpuMatrixX pbat::gpu::xpbd::Integrator::GetVelocity

(

)

const

Fetch the vertex velocities from the GPU.

Returns

3x|# vertices| matrix of vertex velocities

operator=()

Integrator & pbat::gpu::xpbd::Integrator::operator= ( Integrator && other )

noexcept

Move assignment operator.

Parameters

other

Integrator to move from

Returns

Reference to this Integrator

Positions()

GpuMatrixX pbat::gpu::xpbd::Integrator::Positions

(

)

const

Fetch the current positions from the GPU.

Returns

3x|# vertices| matrix of vertex positions

SetCompliance()

void pbat::gpu::xpbd::Integrator::SetCompliance	(	Eigen::Ref< GpuMatrixX const > const &	alpha,
		EConstraint	eConstraint )

Set the GPU constraint compliances from the input CPU constraint compliances.

Parameters

alpha	|# constraints| matrix of constraint compliances of type eConstraint
eConstraint	Type of constraint

SetExternalAcceleration()

void pbat::gpu::xpbd::Integrator::SetExternalAcceleration

(

Eigen::Ref< GpuMatrixX const > const &

aext

)

Set the GPU external acceleration from the input CPU external acceleration.

Parameters

aext	3x|# vertices| matrix of external accelerations

SetFrictionCoefficients()

void pbat::gpu::xpbd::Integrator::SetFrictionCoefficients	(	GpuScalar	muS,
		GpuScalar	muK )

Set the friction coefficients to use for contact handling.

Parameters

muS	Static friction coefficient
muK	Kinetic friction coefficient

SetLameCoefficients()

void pbat::gpu::xpbd::Integrator::SetLameCoefficients

(

Eigen::Ref< GpuMatrixX const > const &

l

)

Set the GPU Lame coefficients from the input CPU Lame coefficients.

Parameters

l	2x|# elements| vector of Lame coefficients

SetMassInverse()

void pbat::gpu::xpbd::Integrator::SetMassInverse

(

Eigen::Ref< GpuMatrixX const > const &

minv

)

Set the GPU mass inverse from the input CPU mass inverse.

Parameters

minv	|# vertices| vector of mass inverses

SetPositions()

void pbat::gpu::xpbd::Integrator::SetPositions

(

Eigen::Ref< GpuMatrixX const > const &

X

)

Set the GPU vertex positions from the input CPU vertex positions.

Parameters

X	3x|# vertices| matrix of vertex positions

SetSceneBoundingBox()

void pbat::gpu::xpbd::Integrator::SetSceneBoundingBox	(	Eigen::Vector< GpuScalar, 3 > const &	min,
		Eigen::Vector< GpuScalar, 3 > const &	max )

Set the world bounding box for the current time step.

Parameters

min	World bounding box minimum
max	World bounding box maximum

SetVelocities()

void pbat::gpu::xpbd::Integrator::SetVelocities

(

Eigen::Ref< GpuMatrixX const > const &

v

)

Set the GPU vertex velocities from the input CPU vertex velocities.

Parameters

v	3x|# vertices| matrix of vertex velocities

Step()

void pbat::gpu::xpbd::Integrator::Step	(	GpuScalar	dt,
		GpuIndex	iterations,
		GpuIndex	substeps )

Step once in time.

Parameters

dt	Time step
iterations	Number of solver loop iterations @params substeps Number of substeps

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

• C:/git/PhysicsBasedAnimationToolkit/source/pbat/gpu/xpbd/Integrator.h
• C:/git/PhysicsBasedAnimationToolkit/source/pbat/gpu/xpbd/Integrator.cu