Contact.hpp

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// This file is part of GranOO, a workbench for DEM simulation.
//
// Author(s)    : - Damien Andre       IRCER/UNILIM, Limoges France
//                  <damien.andre@unilim.fr>
//                - Jean-luc Charles   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jean-luc.charles@ensam.eu>
//                - Jeremie Girardot   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jeremie.girardot@ensam.eu>
//                - Cedric Hubert      LAMIH/UPHF, Valenciennes France
//                  <cedric.hubert@uphf.fr>
//                - Ivan Iordanoff     Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <ivan.iordanoff@ensam.eu>
//
// Copyright (C) 2008-2019 D. Andre, JL. Charles, J. Girardot, C. Hubert, I. Iordanoff
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 
 
#ifndef _LibCollision_Contact_HPP
#define _LibCollision_Contact_HPP
 
 
 
#include "GranOO3/Collision/Data.hpp"
#include "GranOO3/Geom/Quaternion.hpp"
#include "GranOO3/Geom/Frame.hpp"
#include <map>
 
namespace GranOO3
{
  namespace Collision
  {
 
    constexpr unsigned long long int unique_pair_from(unsigned long long int x, unsigned long long int y) { 
      return x>y ? (x+y)*(x+y+1)/2 + y : (x+y)*(x+y+1)/2 + x;
      //return (x+y)*(x+y+1)/2 + y;
    } 
 
    
    // The main class that manages contact that manage contacts between T1 class and T2 class..
    template<class T1, class T2>
    class Contact
    {
    public:
      static std::string class_ID() {return "Contact<" + T1::class_ID() + ", " + T2::class_ID() + ">";}
      static unsigned long long int compute_ID(const T1& t1, const T2& t2);
      static void manage(const T1& t1, const T2& t2, Data& d);
      static void disable_all();
      static void remove_all_disabled_contact();
      static Contact* get(const T1& t1, const T2& t2);
      
    public:
      static std::map<unsigned long long int, Contact<T1,T2>*> _all_map;
 
    public:
      void update(const Data& d);
      
    private:
      Contact(const T1& t1, const T2& t2, Data& d);
      ~Contact();
      
    public:
      const T1&    _body1;
      const T2&    _body2;
      bool         _enable;
      Geom::Point  _point;
      Geom::Point  _point1;
      Geom::Point  _point2;
      Geom::Quaternion _Q1;
      Geom::Quaternion _Q2;
      Geom::Quaternion _Q;
      Geom::Frame      _F;
      Geom::Point      _P1;
      Geom::Frame      _F1;
      Geom::Vector _tangent_disp1;
      Geom::Vector _tangent_disp2;
    };
 
 
 
 
  }
}
 
 
#include "GranOO3/Collision/Contact.tpp"
 
 
#endif