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/* SPDX-License-Identifier: GPL-2.0-or-later
* Copyright Blender Foundation. All rights reserved. */
#pragma once
/** \file
* \ingroup sim
*/
#if defined(__GNUC__) && !defined(__clang__)
# pragma GCC diagnostic push
/* XXX suppress verbose warnings in eigen */
# pragma GCC diagnostic ignored "-Wlogical-op"
#endif
#include <Eigen/Sparse>
#include <Eigen/src/Core/util/DisableStupidWarnings.h>
#ifdef __GNUC__
# pragma GCC diagnostic pop
#endif
#include "BLI_utildefines.h"
#include "implicit.h"
typedef float Scalar;
/* slightly extended Eigen vector class
* with conversion to/from plain C float array
*/
class Vector3 : public Eigen::Vector3f {
public:
typedef float *ctype;
Vector3()
{
}
Vector3(const ctype &v)
{
for (int k = 0; k < 3; k++) {
coeffRef(k) = v[k];
}
}
Vector3 &operator=(const ctype &v)
{
for (int k = 0; k < 3; k++) {
coeffRef(k) = v[k];
}
return *this;
}
operator ctype()
{
return data();
}
};
/* slightly extended Eigen matrix class
* with conversion to/from plain C float array
*/
class Matrix3 : public Eigen::Matrix3f {
public:
typedef float (*ctype)[3];
Matrix3()
{
}
Matrix3(const ctype &v)
{
for (int k = 0; k < 3; k++) {
for (int l = 0; l < 3; l++) {
coeffRef(l, k) = v[k][l];
}
}
}
Matrix3 &operator=(const ctype &v)
{
for (int k = 0; k < 3; k++) {
for (int l = 0; l < 3; l++) {
coeffRef(l, k) = v[k][l];
}
}
return *this;
}
operator ctype()
{
return (ctype)data();
}
};
typedef Eigen::VectorXf lVector;
/* Extension of dense Eigen vectors,
* providing 3-float block access for blenlib math functions
*/
class lVector3f : public Eigen::VectorXf {
public:
typedef Eigen::VectorXf base_t;
lVector3f()
{
}
template<typename T> lVector3f &operator=(T rhs)
{
base_t::operator=(rhs);
return *this;
}
float *v3(int vertex)
{
return &coeffRef(3 * vertex);
}
const float *v3(int vertex) const
{
return &coeffRef(3 * vertex);
}
};
typedef Eigen::Triplet<Scalar> Triplet;
typedef std::vector<Triplet> TripletList;
typedef Eigen::SparseMatrix<Scalar> lMatrix;
/* Constructor type that provides more convenient handling of Eigen triplets
* for efficient construction of sparse 3x3 block matrices.
* This should be used for building lMatrix instead of writing to such lMatrix directly (which is
* very inefficient). After all elements have been defined using the set() method, the actual
* matrix can be filled using construct().
*/
struct lMatrix3fCtor {
lMatrix3fCtor()
{
}
void reset()
{
m_trips.clear();
}
void reserve(int numverts)
{
/* reserve for diagonal entries */
m_trips.reserve(numverts * 9);
}
void add(int i, int j, const Matrix3 &m)
{
i *= 3;
j *= 3;
for (int k = 0; k < 3; k++) {
for (int l = 0; l < 3; l++) {
m_trips.push_back(Triplet(i + k, j + l, m.coeff(l, k)));
}
}
}
void sub(int i, int j, const Matrix3 &m)
{
i *= 3;
j *= 3;
for (int k = 0; k < 3; k++) {
for (int l = 0; l < 3; l++) {
m_trips.push_back(Triplet(i + k, j + l, -m.coeff(l, k)));
}
}
}
inline void construct(lMatrix &m)
{
m.setFromTriplets(m_trips.begin(), m_trips.end());
m_trips.clear();
}
private:
TripletList m_trips;
};
typedef Eigen::ConjugateGradient<lMatrix, Eigen::Lower, Eigen::DiagonalPreconditioner<Scalar>>
ConjugateGradient;
using Eigen::ComputationInfo;
BLI_INLINE void print_lvector(const lVector3f &v)
{
for (int i = 0; i < v.rows(); i++) {
if (i > 0 && i % 3 == 0) {
printf("\n");
}
printf("%f,\n", v[i]);
}
}
BLI_INLINE void print_lmatrix(const lMatrix &m)
{
for (int j = 0; j < m.rows(); j++) {
if (j > 0 && j % 3 == 0) {
printf("\n");
}
for (int i = 0; i < m.cols(); i++) {
if (i > 0 && i % 3 == 0) {
printf(" ");
}
implicit_print_matrix_elem(m.coeff(j, i));
}
printf("\n");
}
}
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