Leimer implementation of DER. Implemented interface with my SimulationJob structure
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#ifndef DER_LEIMER_HPP
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#define DER_LEIMER_HPP
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#include "simulationmodel.hpp"
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#include <Eigen/Sparse>
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class DER_leimer : public SimulationModel
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{
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public:
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DER_leimer();
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virtual SimulationResults executeSimulation(const std::shared_ptr<SimulationJob> &pJob);
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struct RodParams
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{
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double thickness;
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double kstretching; //stretching stiffness
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double kbending; //bending stiffness
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double ktwist; //twisting stiffness
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double kanchorpos; //anchor positional stiffness
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double kanchordir; //anchor directional stiffness
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double rho; //density
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double restlength;
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};
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struct RodState
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{
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Eigen::MatrixXd centerlinePositions;
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Eigen::VectorXi centerlineIndices; //"global" indices of centerline vertices
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Eigen::MatrixXd
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directors; //normal vectors to each segment. They are called "directors" here because thats how they call them in the weaving geodesics paper
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Eigen::MatrixXd matDirNormal; //Normal vector of each segment
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Eigen::MatrixXd matDirBinormal; //Binormal vector of each segment
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Eigen::VectorXd thetas;
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Eigen::MatrixXd centerlineVelocities;
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Eigen::VectorXd directorAngVel;
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Eigen::MatrixXd curvatures;
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};
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class Rod
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{
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public:
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Rod(const RodState &startState,
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const Eigen::VectorXd &widths,
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RodParams ¶ms,
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bool isClosed);
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enum RodVisibilityState { RS_TRANSLUCENT = 0, RS_VISIBLE, RS_HIDDEN };
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bool isClosed() const { return isClosed_; }
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void setVisibilityState(RodVisibilityState state) { visState_ = state; }
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RodVisibilityState visibilityState() const { return visState_; }
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Eigen::Vector3d rodColor() const;
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Eigen::Vector3d rodColor(int seg) const;
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int rodColorID() const { return colorID_; }
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void cycleColor();
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int numVertices() const { return (int) curState.centerlinePositions.rows(); }
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int numSegments() const { return (int) curState.thetas.size(); }
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double arclength() const;
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RodState curState;
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RodState startState;
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Eigen::VectorXd widths;
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Eigen::VectorXd restlens;
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Eigen::VectorXd masses;
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Eigen::VectorXd momInertia;
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Eigen::VectorXi segColors;
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Eigen::MatrixXd vSegParams; // stretch, bend, twist, restlength
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RodParams params;
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void initializeRestQuantities();
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private:
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int colorID_;
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bool isClosed_;
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RodVisibilityState visState_;
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};
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struct Anchor
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{
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int rod;
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int seg;
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double bary; // where along the segment should the anchor be placed?[0,1]. 0 at the beginning , 1 at the end
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Eigen::Vector3d position;
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Eigen::Vector3d normal;
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double ratio; //??
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double k_pos;
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double k_dir;
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};
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struct Intersection
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{
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int intersectionIndex;
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int globalVi;
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Eigen::MatrixXi rodSegmentIndices;
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Eigen::Matrix3d rotationMatrix;
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};
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struct SimParams
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{
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bool allowSliding;
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Eigen::MatrixXd *anchorPoints;
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Eigen::MatrixXd *anchorNormals;
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bool gravityEnabled{true};
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Eigen::Vector3d gravityDir;
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double floorHeight;
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double floorWeight;
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};
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class RodConfig
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{
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public:
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~RodConfig();
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void addRod(Rod *rod);
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void addAnchor(Anchor a);
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void addIntersection(Intersection inter);
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void initWeave(); // Call after all constraints initialized
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int numRods() const { return (int) rods.size(); }
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int numAnchors() const { return (int) anchors.size(); }
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int numVertices() const { return (int) vertices.rows(); }
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int numIntersections() const { return (int) intersections.size(); }
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void reset();
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void createVisualizationMesh(Eigen::MatrixXd &Q, Eigen::MatrixXi &F);
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Eigen::Vector3d shadeRodSegment(Eigen::Vector3d light,
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int rod,
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int segment,
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bool showCover) const;
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void saveRodGeometry(const std::string &prefix);
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std::vector<Rod *> rods;
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std::vector<Anchor> anchors;
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std::vector<Intersection> intersections;
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Eigen::MatrixXd vertices;
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bool showConstraints;
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bool allowSliding;
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double decay; //?
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int getNumDoF() const;
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};
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private:
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bool simulateOneStepGrid(RodConfig *config);
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void rAndJGrid(const RodConfig &config,
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Eigen::VectorXd &r,
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Eigen::SparseMatrix<double> *Jr,
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double &gravityPE,
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Eigen::VectorXd &gravityForces,
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const SimParams ¶ms,
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double &externalForcesPE,
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const Eigen::VectorXd &externalForces = Eigen::VectorXd(),
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std::vector<Eigen::Triplet<int>> *H_index = NULL,
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std::vector<double> *H_value = NULL,
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Eigen::SparseMatrix<double> *Ju = NULL,
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std::vector<Eigen::Triplet<int>> *Hu_index = NULL,
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std::vector<double> *Hu_value = NULL);
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RodConfig *readRodGrid(const std::shared_ptr<SimulationMesh> &pMesh,
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const std::vector<int> &numVertsPerRod,
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const std::vector<int> &vInd,
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const std::vector<Eigen::Vector3d> &verts,
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const std::vector<Eigen::Vector3d> &binorms,
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const std::vector<RodParams> &rodparams,
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const std::vector<Anchor> &anchors,
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const double decay = 1.0,
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double *vStiffness = 0,
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double *restVerts = 0,
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double *restNormals = 0,
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const std::vector<double> &thetas = std::vector<double>(),
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double *eulers = 0);
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double lineSearchGrid(RodConfig &config,
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const Eigen::VectorXd &update,
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const SimParams ¶ms,
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const Eigen::VectorXd &externalForces = Eigen::VectorXd());
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double energy;
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Eigen::VectorXd updateVec;
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double forceResidual;
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int iter{0};
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SimulationResults constructSimulationResults(const std::shared_ptr<SimulationJob> &pJob,
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RodConfig *config) const;
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std::shared_ptr<SimulationJob> pJob;
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};
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Eigen::Matrix3d eulerRotation(double e0, double e1, double e2, int deriv = -1, int deriv2 = -1);
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#endif // DER_LEIMER_HPP
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