Program Listing for File DirectPositionBasedSolverForStiffRodsInterface.h

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#ifndef DIRECT_POSITION_BASED_SOLVER_FOR_STIFF_RODS_INTERFACE
#define DIRECT_POSITION_BASED_SOLVER_FOR_STIFF_RODS_INTERFACE

#include "Common/Common.h"

namespace PBD{
    // Implementation of "Direct Position-Based Solver for Stiff Rods" paper
    // (https://animation.rwth-aachen.de/publication/0557/)
    //
    //  Implemented by:
    //
    //  Crispin Deul
    //  Graduate School CE
    //  Technische Universität Darmstadt
    //
    //  deul[at] gsc.tu-darmstadt.de
    //


    class RodSegment
    {
    public:
        virtual bool isDynamic() = 0;
        virtual Real Mass() = 0;
        virtual const Vector3r & InertiaTensor() = 0;
        virtual const Vector3r & Position() = 0;
        virtual const Quaternionr & Rotation() = 0;
    };

    class RodConstraint
    {
    public:
        using Vector6r = Eigen::Matrix<Real, 6, 1, Eigen::DontAlign>;
        virtual unsigned int segmentIndex(unsigned int i) = 0;
        virtual Eigen::Matrix<Real, 3, 4, Eigen::DontAlign> & getConstraintInfo() = 0;
        virtual Real getAverageSegmentLength() = 0;
        virtual Vector3r &getRestDarbouxVector() = 0;
        virtual Vector3r &getStiffnessCoefficientK() = 0;
        virtual Vector3r & getStretchCompliance() = 0;
        virtual Vector3r & getBendingAndTorsionCompliance() = 0;
    };
}
#endif