NewtonCorotatedCache.h

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// Copyright Epic Games, Inc. All Rights Reserved.
#pragma once 
#include "Chaos/Matrix.h"
 
namespace Chaos::Softs
{
 
template <typename T>
struct CorotatedCache 
{
    TArray<T> JFInvTCache, RCache;
    TArray<T> DInvCache;
 
    T JCache;
 
 
    CorotatedCache()
    {
        JFInvTCache.Init((T)0., 3*3);
        RCache.Init((T)0., 3*3);
        DInvCache.Init((T)0., 3*3);
    };
 
    void UpdateCache(const Chaos::PMatrix<T, 3, 3>& F);
    void P(const Chaos::PMatrix<T, 3, 3>& F, const T mu, const T lambda, Chaos::PMatrix<T, 3, 3>& P);
    void deltaP(const Chaos::PMatrix<T, 3, 3>& F, const Chaos::PMatrix<T, 3, 3>& dF, const T mu, const T lambda, Chaos::PMatrix<T, 3, 3>& dP);
 
};
 
template <typename T>
T PsiCorotated(const Chaos::PMatrix<T, 3, 3>& F, const T mu, const T lambda);
 
template <typename T>
void PCorotated(const Chaos::PMatrix<T, 3, 3>& F, const T mu, const T lambda, Chaos::PMatrix<T, 3, 3>& P);
 
}