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#pragma once
#include <Eigen/Dense>
#include <vector>
class System
{
public:
System();
struct Node;
struct Tet;
Eigen::Vector3d _gravity = Eigen::Vector3d(0., -1.0, 0.);
double groundAbsorbance = 4e4;
double groundTraction = 4e4;
std::vector<Node*> nodes;
std::vector<Tet*> tets;
std::vector<Eigen::Vector3d> getPositions();
void setPositions(std::vector<Eigen::Vector3d> positions);
std::vector<Eigen::Vector3d> getVelocities();
void setVelocities(std::vector<Eigen::Vector3d> velocities);
void initFromVecs(std::vector<Eigen::Vector3d> v, std::vector<Eigen::Vector4i> t);
struct Params {
const Eigen::Vector3d gravity = Eigen::Vector3d(0, -1, 0);
const double _lambda = 1e4; //incompressibility for the whole material
const double _mu = 1e4; //rigidity for the whole material
const double _rho = 1200.; //density
const double _phi = 1e1; //coefficients of viscosity
const double _psi = 1e1;
const double _traction = 4e4;
const double _absorbance = 1e1;
};
void setParams(Params params);
struct Node {
Eigen::Vector3d pos;
double mass = 0;
Eigen::Vector3d vel = Eigen::Vector3d(0., 0., 0.);
Eigen::Vector3d force = Eigen::Vector3d(0., 0., 0.);
Eigen::Vector3d acc = Eigen::Vector3d(0., 0., 0.);
};
struct Face {
double area;
Eigen::Vector3d normal;
std::vector<Node*> nodes;
Node* opp;
// P is unused point we use to see if normal is facing right way.
Face(Node* a, Node* b, Node* c, Node* p);
void calculateAreaNorms();
};
struct Tet {
double _lambda = 1e4; //incompressibility for the whole material
double _mu = 1e4; //rigidity for the whole material
double _rho = 1200.; //density
double _phi = 1e1; //coefficients of viscosity
double _psi = 1e1;
std::vector<Node*> nodes;
// Eigen::Vector4d faceAreas;
// std::vector<Eigen::Vector3d> normals;
std::vector<Face*> faces;
Eigen::Matrix3d betaMat;
Eigen::Matrix3d posMat;
Eigen::Matrix3d velMat;
Eigen::Matrix3d FMat;
Eigen::Matrix3d strain;
Eigen::Matrix3d strainRate;
Eigen::Matrix3d stress;
double mass;
Tet(std::vector<Node*> in_nodes);
void update();
};
void updateCalculations();
void resolveCollisions();
void updatePositions(double deltaTime);
std::vector<Eigen::Vector3d> getNodePos();
std::vector<Eigen::Vector3d> getNodeForces();
Eigen::VectorXd getState();
};
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