imstkPbdSolver.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkPbdConstraint.h"
#include "imstkSolverBase.h"

namespace imstk
{
class PbdConstraintContainer;

class PbdSolver : public SolverBase
{
public:
    PbdSolver();
    ~PbdSolver() override = default;

    void setIterations(const size_t iterations) { this->m_iterations = iterations; }

    void setConstraints(std::shared_ptr<PbdConstraintContainer> constraints) { this->m_constraints = constraints; }

    void addConstraints(std::vector<PbdConstraint*>* constraints)
    {
        m_constraintLists->push_back(constraints);
    }

    void setPbdBodies(PbdState* state) { this->m_state = state; }

    void setTimeStep(const double dt) { m_dt = dt; }

    size_t getIterations() const { return this->m_iterations; }

    void setSolverType(const PbdConstraint::SolverType& type) { m_solverType = type; }

    void solve() override;

    const std::list<std::vector<PbdConstraint*>*>& getConstraintLists() const { return *m_constraintLists; }

    void clearConstraintLists() { m_constraintLists->clear(); }

private:
    size_t m_iterations = 20;                                        
    double m_dt = 0.0;                                               

    std::shared_ptr<PbdConstraintContainer> m_constraints = nullptr; 

    std::shared_ptr<std::list<std::vector<PbdConstraint*>*>> m_constraintLists = nullptr;

    PbdState* m_state = nullptr;
    PbdConstraint::SolverType m_solverType = PbdConstraint::SolverType::xPBD;
};
} // namespace imstk