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// 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_
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