imstk::PbdSolver Class Reference

Position Based Dynamics solver This solver can solve both partitioned constraints (unordered_set of vector'd constraints) in parallel and sequentially on vector'd constraints. It requires a set of constraints, positions, and invMasses. More...

#include <imstkPbdSolver.h>

Inheritance diagram for imstk::PbdSolver:

Collaboration diagram for imstk::PbdSolver:

Public Member Functions
void	setIterations (const size_t iterations)
	Set Iterations. The number of nonlinear iterations.
void	setConstraints (std::shared_ptr< PbdConstraintContainer > constraints)
	Sets the constraints the solver should solve for These wil be solved sequentially.
void	addConstraints (std::vector< PbdConstraint *> *constraints)
	Add a constraint list to this solver to be solved, for quick addition/removal particularly collision.
void	setPbdBodies (PbdState *state)
	Sets the bodies to solve with.
void	setTimeStep (const double dt)
	Set time step.
size_t	getIterations () const
	Get Iterations. Returns current nonlinear iterations.
void	setSolverType (const PbdConstraint::SolverType &type)
	Set the PBD solver type.
void	solve () override
	Solve the non linear system of equations G(x)=0 using Newton's method.
const std::list< std::vector< PbdConstraint * > * > &	getConstraintLists () const
	Get all the collision constraints, read only.
void	clearConstraintLists ()
	Clear all collision constraints.

Additional Inherited Members
Public Attributes inherited from imstk::SolverBase
std::shared_ptr< DataTracker >	m_dataTracker

Detailed Description

Position Based Dynamics solver This solver can solve both partitioned constraints (unordered_set of vector'd constraints) in parallel and sequentially on vector'd constraints. It requires a set of constraints, positions, and invMasses.

Definition at line 23 of file imstkPbdSolver.h.

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The documentation for this class was generated from the following files:

• Source/Solvers/imstkPbdSolver.h
• Source/Solvers/imstkPbdSolver.cpp