arap_dof.h

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// This file is part of libigl, a simple c++ geometry processing library.
// 
// Copyright (C) 2013 Alec Jacobson <alecjacobson@gmail.com>
// 
// This Source Code Form is subject to the terms of the Mozilla Public License 
// v. 2.0. If a copy of the MPL was not distributed with this file, You can 
// obtain one at http://mozilla.org/MPL/2.0/.
#ifndef IGL_ARAP_ENERGY_TYPE_DOF_H
#define IGL_ARAP_ENERGY_TYPE_DOF_H
#include "igl_inline.h"
 
#include <Eigen/Dense>
#include <Eigen/Sparse>
#include "ARAPEnergyType.h"
#include <vector>
 
 
 
namespace igl
{
  
  template <typename LbsMatrixType, typename SSCALAR>
  struct ArapDOFData;
  template <typename LbsMatrixType, typename SSCALAR>
  IGL_INLINE bool arap_dof_precomputation(
    const Eigen::MatrixXd & V, 
    const Eigen::MatrixXi & F,
    const LbsMatrixType & M,
    const Eigen::Matrix<int,Eigen::Dynamic,1> & G,
    ArapDOFData<LbsMatrixType, SSCALAR> & data);
  
  template <typename LbsMatrixType, typename SSCALAR>
  IGL_INLINE bool arap_dof_recomputation(
    const Eigen::Matrix<int,Eigen::Dynamic,1> & fixed_dim,
    const Eigen::SparseMatrix<double> & A_eq,
    ArapDOFData<LbsMatrixType, SSCALAR> & data);
  
  template <typename LbsMatrixType, typename SSCALAR>
  IGL_INLINE bool arap_dof_update(
    const ArapDOFData<LbsMatrixType,SSCALAR> & data,
    const Eigen::Matrix<double,Eigen::Dynamic,1> & B_eq,
    const Eigen::MatrixXd & L0,
    const int max_iters,
    const double tol,
    Eigen::MatrixXd & L
    );
  
  template <typename LbsMatrixType, typename SSCALAR>
  struct ArapDOFData
  {
    typedef Eigen::Matrix<SSCALAR, Eigen::Dynamic, Eigen::Dynamic> MatrixXS;
    igl::ARAPEnergyType energy;
    Eigen::Matrix<int,Eigen::Dynamic,1> fixed_dim;
    std::vector<Eigen::MatrixXd> CSM_M;
    LbsMatrixType M_KG;
    int n;
    int m;
    int dim;
    int effective_dim;
    Eigen::Matrix<int,Eigen::Dynamic,1> interpolated;
    std::vector<bool> free_mask;
    LbsMatrixType Q;
  
  
    //Eigen::MatrixXd M_Solve; // TODO: remove from here
  
    MatrixXS M_FullSolve;
  
    MatrixXS CSM;
    MatrixXS CSolveBlock1;
  
    bool print_timings;
  
    bool with_dynamics;
    // I'm hiding the extra dynamics stuff in this struct, which sort of defeats
    // the purpose of this function-based coding style...
  
    double h;
  
    MatrixXS L0;
    //MatrixXS Lm1;
    MatrixXS Lvel0;
  
    MatrixXS fext;
  
    LbsMatrixType Mass_tilde;
  
    Eigen::MatrixXd fgrav;
    Eigen::Vector3d grav_dir;
    double grav_mag;
    
    MatrixXS Pi_1;
  
    // @private Default values
    ArapDOFData(): 
      energy(igl::ARAP_ENERGY_TYPE_SPOKES), 
      with_dynamics(false),
      h(1),
      grav_dir(0,-1,0),
      grav_mag(0)
    {
    }
  };
}
 
#ifndef IGL_STATIC_LIBRARY
#  include "arap_dof.cpp"
#endif
 
#endif