PJSConstraintSolver.h

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#pragma once
#include "Module/ConstraintModule.h"
#include "RigidBody/RigidBodyShared.h"
 
#include "Topology/DiscreteElements.h"
#include "Collision/Attribute.h"
#include "Collision/CollisionData.h"
 
namespace dyno
{
    template<typename TDataType>
    class PJSConstraintSolver : public ConstraintModule
    {
        DECLARE_TCLASS(PJSConstraintSolver, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix;
 
        typedef typename ::dyno::Quat<Real> TQuat;
        typedef typename ::dyno::TContactPair<Real> ContactPair;
        typedef typename ::dyno::TConstraintPair<Real> Constraint;
 
        typedef typename ::dyno::BallAndSocketJoint<Real> BallAndSocketJoint;
        typedef typename ::dyno::SliderJoint<Real> SliderJoint;
        typedef typename ::dyno::HingeJoint<Real> HingeJoint;
        typedef typename ::dyno::FixedJoint<Real> FixedJoint;
        typedef typename ::dyno::PointJoint<Real> PointJoint;
 
        PJSConstraintSolver();
        ~PJSConstraintSolver();
 
    public:
        DEF_VAR(bool, FrictionEnabled, true, "");
 
        DEF_VAR(bool, GravityEnabled, true, "");
 
        DEF_VAR(Real, GravityValue, 9.8, "");
 
        DEF_VAR(Real, FrictionCoefficient, 100, "");
 
        DEF_VAR(Real, Slop, 0.0001, "");
 
        DEF_VAR(Real, BaumgarteRate, 0.2, "");
 
        DEF_VAR(uint, IterationNumberForVelocitySolver, 300, "");
 
        DEF_VAR(Real, LinearDamping, 0.1, "");
 
        DEF_VAR(Real, AngularDamping, 0.1, "");
 
    public:
        DEF_VAR_IN(Real, TimeStep, "Time step size");
 
        DEF_ARRAY_IN(Real, Mass, DeviceType::GPU, "Mass of rigid bodies");
 
        DEF_ARRAY_IN(Coord, Center, DeviceType::GPU, "Center of rigid bodies");
 
        DEF_ARRAY_IN(Coord, Velocity, DeviceType::GPU, "Velocity of rigid bodies");
 
        DEF_ARRAY_IN(Coord, AngularVelocity, DeviceType::GPU, "Angular velocity of rigid bodies");
 
        DEF_ARRAY_IN(Matrix, RotationMatrix, DeviceType::GPU, "Rotation matrix of rigid bodies");
 
        DEF_ARRAY_IN(Matrix, Inertia, DeviceType::GPU, "Interial matrix");
 
        DEF_ARRAY_IN(Matrix, InitialInertia, DeviceType::GPU, "Interial matrix");
 
        DEF_ARRAY_IN(TQuat, Quaternion, DeviceType::GPU, "Quaternion");
 
        DEF_ARRAY_IN(ContactPair, Contacts, DeviceType::GPU, "");
 
        DEF_INSTANCE_IN(DiscreteElements<TDataType>, DiscreteElements, "");
 
        DEF_ARRAY_IN(Attribute, Attribute, DeviceType::GPU, "Rigid body attributes");
 
        DEF_ARRAY_IN(Real, FrictionCoefficients, DeviceType::GPU, "FrictionCoefficients of rigid bodies");
 
    protected:
        void constrain() override;
 
    private:
        void initializeJacobian(Real dt);
        void initializeRelaxation();
 
    private:
        DArray<Coord> mJ;
        DArray<Coord> mB;
        DArray<Real> mD;
 
        DArray<Coord> mImpulseC;
        DArray<Coord> mImpulseExt;
 
        DArray<Real> mEta;
        DArray<Real> mLambda;
 
        DArray<ContactPair> mContactsInLocalFrame;
 
        DArray<Constraint> mVelocityConstraints;
 
        DArray<int> mContactNumber;
 
        DArray<Real> mK_1;
        DArray<Mat2f> mK_2;
        DArray<Matrix> mK_3;  
 
        std::vector<float> errors;
        int cnt = 0;
 
        DArray<Real> mErrors;
        DArray<Real> mA;
 
    };
}