Constraints.h

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#pragma once
#include <set>
#include <eigen3/Eigen/Sparse>
#include "nuto/mechanics/dofs/DofContainer.h"
#include "nuto/mechanics/constraints/Equation.h"

namespace NuTo
{
namespace Constraint
{

struct JKNumbering
{
    JKNumbering(Eigen::VectorXi indices, int numK)
        : mIndices(indices)
        , mNumJ(indices.size() - numK)
        , mNumK(numK)
    {
    }

    Eigen::VectorXi mIndices;
    int mNumJ;
    int mNumK;
};

class Constraints
{
    using Equations = std::vector<Equation>;

public:
    void Add(DofType dof, Equation equation);

    void Add(DofType dof, std::vector<Equation> equations);

    Eigen::VectorXd GetRhs(DofType dof, double time) const;

    Eigen::SparseVector<double> GetSparseGlobalRhs(DofType dof, int numDofs, double time) const;

    JKNumbering GetJKNumbering(DofType dof, int numDofs) const;

    Eigen::SparseMatrix<double> BuildUnitConstraintMatrix(DofType dof, int numDofs) const;

    int GetNumEquations(DofType dof) const;

    const Equation& GetEquation(DofType dof, int equationNumber) const;

private:
    DofContainer<Equations> mEquations;


    class TermChecker
    {
    public:
        //          - the dependent term of `e` is in any existing equation
        //          - any term of `e` is in the depenend terms of any existing equation
        void CheckEquation(Equation e);

    private:
        struct TermCompare
        {
            bool operator()(const Term& lhs, const Term& rhs) const;
        };

        std::set<Term, TermCompare> mDependentTerms;
        std::set<Term, TermCompare> mIndependentTerms;
    } mTermChecker;
};


} /* Constaint */
} /* NuTo */