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// Copyright Matt Overby 2020.
// Distributed under the MIT License.
#ifndef ADMMPD_SOLVER_H_
#define ADMMPD_SOLVER_H_
#include "admmpd_types.h"
#include "admmpd_collision.h"
#include "admmpd_pin.h"
namespace admmpd {
class Solver {
public:
// Initialies solver data. If a per-vertex
// variable is resized it is initialized to zero.
// Returns true on success
bool init(
const Eigen::MatrixXd &V, // vertices
const Eigen::MatrixXi &T, // tets
const Eigen::VectorXd &m, // per-vert masses
const Options *options,
SolverData *data);
// Solve a single time step.
// Returns number of iterations.
// Collision ptr can be null.
// Pin ptr can be null
int solve(
const Options *options,
SolverData *data,
Collision *collision,
Pin *pin);
protected:
void linearize_collision_constraints(
const Options *options,
SolverData *data,
Collision *collision);
void init_solve(
const Options *options,
SolverData *data,
Collision *collision,
Pin *pin);
void solve_local_step(
const Options *options,
SolverData *data);
bool compute_matrices(
const Options *options,
SolverData *data);
void append_energies(
const Options *options,
SolverData *data,
std::vector<Eigen::Triplet<double> > &D_triplets);
}; // class ADMMPD_solver
} // namespace admmpd
#endif // ADMMPD_SOLVER_H_
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