GEEKING

App/include/solver/SolverKernel.h

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+#pragma once
+
+#include "solver/SolverConfig.h"
+#include "boost/cstdint.hpp"
+#include "rbx/ArrayDynamic.h"
+
+namespace RBX
+{
+
+class ConstraintJacobianPair;
+class BodyPairIndices;
+class SolverBodyStaticProperties;
+class SolverBodyMassAndInertia;
+class ConstraintVariables;
+class VirtualDisplacementArray;
+class VirtualDisplacementArray;
+class EffectiveMassPair;
+
+void PGSComputeEffectiveMasses( 
+    EffectiveMassPair* _effectiveMassesVelStage,
+    EffectiveMassPair* _effectiveMassesPosStage,
+    size_t _constraintCount, 
+    const boost::uint8_t* _dimensions, 
+    const ConstraintJacobianPair* _jacobians, 
+    const BodyPairIndices* _pairs,
+    const SolverBodyMassAndInertia* _massAndIntertia,
+    const SolverConfig& _config );
+
+void PGSApplyEffectiveMassMultipliers( 
+    EffectiveMassPair* _effectiveMassesVelStage,
+    EffectiveMassPair* _effectiveMassesPosStage,
+    size_t _constraintCount, 
+    const boost::uint8_t* _dimensions, 
+    const float* _multipliers, 
+    const BodyPairIndices* _pairs,
+    const SolverConfig& _config );
+
+void PGSPreconditionConstraintEquations( 
+    ConstraintJacobianPair* _preconditionedJacobiansVelStage, 
+    ConstraintJacobianPair* _preconditionedJacobiansPosStage, 
+    ConstraintVariables* _velocityStageVariables, 
+    ConstraintVariables* _positionStageVariables,
+    size_t _constraintCount, 
+    const boost::uint8_t* _dimensions, 
+    const boost::uint8_t* _useBlock,
+    const float* __restrict _sorVel,
+    const float* __restrict _sorPos,
+    const ConstraintJacobianPair* _jacobians, 
+    const EffectiveMassPair* _effectiveMassesVelStage,
+    const EffectiveMassPair* _effectiveMassesPosStage );
+
+void PGSInitVirtualDisplacements( 
+    VirtualDisplacementArray& _virDVel, 
+    VirtualDisplacementArray& _virDPos, 
+    const EffectiveMassPair* _effectiveMassesVelStage,
+    const EffectiveMassPair* _effectiveMassesPosStage,
+    size_t _constraintCount, 
+    const boost::uint8_t* _dimensions, 
+    const ConstraintVariables* __restrict _velStage,
+    const ConstraintVariables* __restrict _posStage,
+    const BodyPairIndices* _pairs,
+    const SolverConfig& _config );
+
+void PGSSolveKernel(
+    ConstraintVariables* __restrict _velStage,
+    ConstraintVariables* __restrict _posStage,
+    VirtualDisplacementArray& _virDVel,
+    VirtualDisplacementArray& _virDPos,
+    size_t _constraintCount, 
+    size_t _collisionCount,
+    const boost::uint8_t* _dimensions, 
+    const BodyPairIndices* _pairs,
+    const ConstraintJacobianPair* _preconditionedJacobiansVelStage, 
+    const ConstraintJacobianPair* _preconditionedJacobiansPosStage, 
+    const EffectiveMassPair* _effectiveMassesVelStage,
+    const EffectiveMassPair* _effectiveMassesPosStage,
+    const SolverConfig& _config );
+
+void PGSSolveKernelComputeErrors(
+    ArrayBase< float >& _residuals,
+    ArrayBase< float >& _deltaResiduals,
+    ArrayBase< ConstraintVariables >& _vars,
+    VirtualDisplacementArray& _virD,
+    size_t _constraintCount, 
+    size_t _collisionCount,
+    size_t _bodyCount,
+    const boost::uint8_t* _dimensions, 
+    const BodyPairIndices* _pairs,
+    const ConstraintJacobianPair* _jacobians, 
+    const ConstraintJacobianPair* _preconditionedJacobians, 
+    const EffectiveMassPair* _effectiveMasses,
+    const SolverConfig& _config );
+
+}