added goal positions

1 files changed, 88 insertions, 0 deletions

diff --git a/extern/softbody/src/admmpd_pin.h b/extern/softbody/src/admmpd_pin.h
new file mode 100644
index 00000000000..8080d9d2c85
--- /dev/null
+++ b/extern/softbody/src/admmpd_pin.h
@@ -0,0 +1,88 @@
+// Copyright Matt Overby 2020.
+// Distributed under the MIT License.
+
+#ifndef ADMMPD_PIN_H_
+#define ADMMPD_PIN_H_
+
+#include "admmpd_bvh.h"
+#include "admmpd_types.h"
+#include <unordered_map>
+#include <vector>
+
+namespace admmpd {
+
+class Pin {
+public:
+
+    virtual ~Pin() {}
+
+    // Clears all pins
+    virtual void clear() = 0;
+
+    // Set the pin location (q) and per-axis stiffness (k)
+    // Stiffness should be 0 to 1. It can go larger, but
+    // the resulting matrix will be poorly conditioned.
+    virtual void set_pin(
+        int idx,
+        const Eigen::Vector3d &q,
+        const Eigen::Vector3d &k) = 0;
+
+    // Returns true if the vert is pinned
+//    virtual bool has_pin(int idx) const = 0;
+
+    // Creates linearization for constraint:
+    // Px=q with stiffnesses baked in
+    virtual void linearize(
+        const Eigen::MatrixXd *x, // not used yet
+    	std::vector<Eigen::Triplet<double> > *trips,
+		std::vector<double> *q) = 0;
+
+    // Returns per-axis pin stiffness
+//    virtual Eigen::Vector3d get_pin_k(int idx) const = 0;
+
+    // Returns pin location, or zero vector if not set
+ //   virtual Eigen::Vector3d get_pin_pos(int idx) const = 0;
+};
+
+class EmbeddedMeshPin : public Pin {
+public:
+    EmbeddedMeshPin(const EmbeddedMeshData *mesh_) : mesh(mesh_){}
+
+    // Clears all pins
+    void clear();
+
+    // Set the pin location of the embedded vertex
+    void set_pin(
+        int idx,
+        const Eigen::Vector3d &p,
+        const Eigen::Vector3d &k);
+
+    // Returns true if the deforming vertex is pinned
+//    bool has_pin(int idx) const;
+
+    void linearize(
+        const Eigen::MatrixXd *x, // not used yet
+    	std::vector<Eigen::Triplet<double> > *trips,
+		std::vector<double> *q);
+
+    // Returns per-axis pin stiffness of the deforming vertex (not embedded)
+    // or zero if not pinned
+    // Baryweights are included.
+//    Eigen::Vector3d get_pin_k(int idx) const;
+
+    // Returns pin location of the deforming vertex (not embedded)
+    // or zero vector if not set
+//    Eigen::Vector3d get_pin_pos(int idx) const;
+
+protected:
+    // A ptr to the embedded mesh data
+    const EmbeddedMeshData *mesh;
+
+    // Pins for embedded vertices:
+    std::unordered_map<int,Eigen::Vector3d> pin_k;
+    std::unordered_map<int,Eigen::Vector3d> pin_pos;
+};
+
+} // namespace admmpd
+
+#endif // ADMMPD_PIN_H_