blob: ff983a08e874947197dc84217c76c934f5eb2c8a (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
|
// Copyright Matt Overby 2020.
// Distributed under the MIT License.
#include "admmpd_pin.h"
#include "BLI_assert.h"
namespace admmpd {
using namespace Eigen;
void EmbeddedMeshPin::clear()
{
pin_k.clear();
pin_pos.clear();
}
void EmbeddedMeshPin::set_pin(
int idx,
const Eigen::Vector3d &qi,
const Eigen::Vector3d &ki_)
{
if (!mesh)
return;
if (idx<0 || idx>=mesh->emb_rest_x.rows())
return;
// Clamp
Vector3d ki = ki_;
for (int i=0; i<3; ++i)
ki[i] = std::max(0.0, ki[i]);
pin_k[idx] = ki;
pin_pos[idx] = qi;
}
void EmbeddedMeshPin::linearize(
const Eigen::MatrixXd *x, // not used yet
std::vector<Eigen::Triplet<double> > *trips,
std::vector<double> *q)
{
(void)(x);
int np = pin_k.size();
trips->reserve((int)trips->size() + np*3*4);
q->reserve((int)q->size() + np*3);
std::unordered_map<int,Eigen::Vector3d>::const_iterator it_k = pin_k.begin();
for (; it_k != pin_k.end(); ++it_k)
{
int emb_idx = it_k->first;
const Vector3d &qi = pin_pos[emb_idx];
const Vector3d &ki = it_k->second;
int tet_idx = mesh->emb_vtx_to_tet[emb_idx];
RowVector4d bary = mesh->emb_barys.row(emb_idx);
RowVector4i tet = mesh->tets.row(tet_idx);
for (int i=0; i<3; ++i)
{
int p_idx = q->size();
q->emplace_back(qi[i]*ki[i]);
for (int j=0; j<4; ++j)
trips->emplace_back(p_idx, tet[j]*3+i, bary[j]*ki[i]);
}
}
} // end linearize
//bool EmbeddedMeshPin::has_pin(int idx) const
//{
// return pin_k.count(idx);
//}
} // namespace admmpd
|
