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/*
* This program is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* as published by the Free Software Foundation; either version 2
* of the License, or (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software Foundation,
* Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
* The Original Code is Copyright (C) 2013 Blender Foundation
* All rights reserved.
*/
/** \file
* \ingroup admmpd
*/
#include "admmpd_api.h"
#include "admmpd_solver.h"
#include "admmpd_lattice.h"
#include "DNA_object_types.h" // Object
#include "BKE_softbody.h"
#include <iostream>
struct ADMMPD_Data {
admmpd::ADMMPD_Options *options;
admmpd::ADMMPD_Data *data;
admmpd::Lattice *lattice;
};
ADMMPD_Data* admmpd_init(
BodyPoint *bp,
int numVerts)
{
if (!bp)
return NULL;
ADMMPD_Data *admmpd_data = new ADMMPD_Data();
admmpd_data->options = new admmpd::ADMMPD_Options();
admmpd::ADMMPD_Options *options = admmpd_data->options;
admmpd_data->data = new admmpd::ADMMPD_Data();
admmpd::ADMMPD_Data *data = admmpd_data->data;
admmpd_data->lattice = new admmpd::Lattice();
admmpd::Lattice *lattice = admmpd_data->lattice;
// Create initializer
Eigen::MatrixXd V(numVerts,3);
V.setZero();
for (int i = 0; i < numVerts; ++i)
{
BodyPoint &bpi = bp[i];
V(i,0) = bpi.pos[0];
V(i,1) = bpi.pos[1];
V(i,2) = bpi.pos[2];
}
// Generate a mapping from x -> V
// Usually, dim(x) < dim(V)
Eigen::MatrixXd x;
Eigen::MatrixXi T;
lattice->generate(V, &x, &T);
try
{
admmpd::Solver().init(x, T, options, data);
}
catch(const std::exception &e)
{
printf("**ADMMPD Error on init: %s\n", e.what());
// Should probably return nullptr
}
return admmpd_data;
}
void admmpd_cleanup(ADMMPD_Data *admmpd_data)
{
if (!admmpd_data)
return;
delete admmpd_data->data;
delete admmpd_data->options;
delete admmpd_data->lattice;
delete admmpd_data;
}
void admmpd_solve(ADMMPD_Data *admmpd_data)
{
try
{
admmpd::Solver().solve(admmpd_data->options,admmpd_data->data);
}
catch(const std::exception &e)
{
printf("**ADMMPD Error on solve: %s\n", e.what());
}
}
void admmpd_to_bodypoint(
ADMMPD_Data* data,
BodyPoint *bp,
int numVerts)
{
if (!data || !bp)
{
printf("DATA OR BP NULL!?\n");
return;
}
if (!data->data || !data->lattice)
return;
// Map x -> BodyPoint
// Usually, dim(x) < dim(V)
for (int i=0; i<numVerts; ++i)
{
BodyPoint &bpi = bp[i];
Eigen::Vector3d xi = data->lattice->get_mapped_vertex(
i, &data->data->x, &data->data->tets);
Eigen::Vector3d vi = data->lattice->get_mapped_vertex(
i, &data->data->v, &data->data->tets);
bpi.pos[0] = xi[0];
bpi.pos[1] = xi[1];
bpi.pos[2] = xi[2];
bpi.vec[0] = vi[0];
bpi.vec[1] = vi[1];
bpi.vec[2] = vi[2];
}
} // end map to object
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