Manager.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_Manager_H
#define _LibCollision_Manager_H
 
#include <array>
 
#include "GranOO3/Core/NeedSetOf.hpp"
#include "GranOO3/Collision/Data.hpp"
#include "GranOO3/Core/Doc.hpp"
 
#include "GranOO3/Physic/Body.hpp"
#include "GranOO3/Physic/Ground.hpp"
#include "GranOO3/Physic/CriticalTimeStep.hpp"
 
namespace GranOO3
{
  namespace Collision
  {
 
    template<class T1, class T2> class BroadPhase;
    template<class T1, class T2> class UpdateStrategy;
    template<class T1, class T2> class NarrowPhase;
    template<class T1, class T2> class CallBack;
 
 
    // The main class that manages contact that manage contacts between T1 class and T2 class..
    template<class T1, class T2>
    class Manager
    {
    public:
      static std::string class_ID() {return "Manager<" + T1::class_ID() + ", " + T2::class_ID() + ">";}
 
    private:
      static int _current_iteration_step; // useful for detecting if this is the first time that Manager<T1,T2> is launched
      
    public:
      Manager();
      ~Manager();
 
      void init();
      void parse_xml();
      void run();
 
      bool has_persistent_contact_option() const;
      bool has_build_contact_bond_option() const;
 
      void broad_phase_callback(T1&, T2&);
 
      typedef BroadPhase <T1,T2>*     Broad;
      typedef UpdateStrategy<T1,T2>*  Update;
      typedef NarrowPhase<T1,T2>*     Narrow;
      typedef CallBack   <T1,T2>*     Call;
 
      GRANOO_ACCESS_GET_COPY(broad_phase, Broad, _broad_phase);
      GRANOO_ACCESS_SET_COPY(broad_phase, Broad, _broad_phase);
 
      GRANOO_ACCESS_GET_COPY(update_strategy, Update, _update_strategy);
      GRANOO_ACCESS_SET_COPY(update_strategy, Update, _update_strategy);
 
      GRANOO_ACCESS_GET_COPY(narrow_phase, Narrow, _narrow_phase);
      GRANOO_ACCESS_SET_COPY(narrow_phase, Narrow, _narrow_phase);
 
      GRANOO_ACCESS_GET_COPY(callback, Call, _callback);
      GRANOO_ACCESS_SET_COPY(callback, Call, _callback);
 
      GRANOO_ACCESS(persistent_contact, bool, _persistent_contact);
      
      GRANOO_ACCESS(data, Data, _info);
 
 
    public:
      BroadPhase<T1,T2>*               _broad_phase;
      UpdateStrategy<T1,T2>*           _update_strategy;
      NarrowPhase<T1,T2>*              _narrow_phase;
      CallBack<T1,T2>*                 _callback;
      Data                             _info;
      std::vector<std::pair<T1*, T2*>> _record;
      bool                             _exclude_interaction;
      bool                             _persistent_contact;
      bool                             _build_contact_bond;
    };
 
 
    // The pure virtual BroadPhase class model a BroadPhase algorithm
    // to detect contact. The BroadPhase approach allows to pre-select
    // possible contact pairs.
    template<class T1, class T2>
    class BroadPhase
    {
    public:
      static std::string class_ID() {return "BroadPhase<" + T1::class_ID() + ", " + T2::class_ID() + ">";}
 
    protected:
      BroadPhase();
      virtual ~BroadPhase();
 
    public:
      virtual void parse_xml();
      virtual void init();
      virtual void detect_contact(std::function<void(T1&,T2&)>&) = 0;
 
      typedef Manager<T1,T2> Man;
      GRANOO_ACCESS_GET_COPY(manager, Man*, manager_);
      GRANOO_ACCESS_SET_COPY(manager, Man*, manager_);
 
    private:
      BroadPhase(const BroadPhase&) = delete;
      BroadPhase& operator=(const BroadPhase&) = delete;
 
    private:
      Manager<T1, T2>* manager_;
    };
 
 
    // The pure virtual UpdateStrategy class model a strategy to updateStrategy
    // the update of the BroadPhase method. This is generally non required.
    template<class T1, class T2>
    class UpdateStrategy
    {
    public:
      static std::string class_ID() {return "UpdateStrategy<" + T1::class_ID() + ", " + T2::class_ID() + ">";}
 
    protected:
      UpdateStrategy();
      virtual ~UpdateStrategy();
 
    public:
      virtual void parse_xml();
      virtual void init();
      virtual bool trigger_update() = 0;
 
      typedef Manager<T1,T2> Man;
      GRANOO_ACCESS_GET_COPY(manager, Man*, manager_);
      GRANOO_ACCESS_SET_COPY(manager, Man*, manager_);
 
    private:
      UpdateStrategy(const UpdateStrategy&) = delete;
      UpdateStrategy& operator=(const UpdateStrategy&) = delete;
 
    private:
      Manager<T1, T2>* manager_;
    };
 
 
 
 
    // The pure virtual NarrowPhase class model a NarrowPhase algorithm
    // to exactly detect contact between pairs and compute contact information
    // such as normal, penetration depth and contact info.
    template<class T1, class T2>
    class NarrowPhase
    {
 
    public:
      static std::string class_ID() {return "NarrowPhase<" + T1::class_ID() + ", " + T2::class_ID() + ">";}
 
    protected:
      //CONSTRUCTORS & DESTRUCTORS
      NarrowPhase();
      virtual ~NarrowPhase();
 
    public:
      typedef Manager<T1,T2> Man;
      GRANOO_ACCESS_GET_COPY(manager, Man*, manager_);
      GRANOO_ACCESS_SET_COPY(manager, Man*, manager_);
 
    public:
      //USEFULL
      virtual void parse_xml();
      virtual void init();
      virtual bool is_collide(T1&, T2&, Data&) = 0;
 
    private:
      NarrowPhase(const NarrowPhase&) = delete;
      NarrowPhase& operator=(const NarrowPhase&) = delete;
 
    private:
      Manager<T1, T2>* manager_;
 
    protected:
      double maxPenetrationWithsurface_;
    };
 
 
 
    // What to do when a contact pair is detected ?
    // Use the CallBack class to model the behavior of a contact pair .
    // Usually, a contact response is computed in therms of force and torque.
    template<class T1, class T2>
    class CallBack : public Physic::CriticalTimeStep
    {
 
    public:
      static std::string class_ID() {return "CallBack<" + T1::class_ID() + ", " + T2::class_ID()+ ">";}
 
    protected:
      CallBack();
      virtual ~CallBack();
 
    public:
      //USEFULL
      virtual void parse_xml();
      virtual void init();
      virtual void manage_collision(T1&, T2&, const Data&) = 0;
      virtual double compute_critical_time_step() const = 0;
 
      typedef Manager<T1,T2> Man;
      GRANOO_ACCESS_GET_COPY(manager, Man*, manager_);
      GRANOO_ACCESS_SET_COPY(manager, Man*, manager_);
 
    private:
      CallBack(const CallBack&) = delete;
      CallBack& operator=(const CallBack&) = delete;
 
    private:
      Manager<T1, T2>* manager_;
    };
 
 
 
  }
}
 
 
#include "GranOO3/Collision/Manager.tpp"
#include "GranOO3/Collision/BroadPhase.tpp"
#include "GranOO3/Collision/UpdateStrategy.tpp"
#include "GranOO3/Collision/NarrowPhase.tpp"
#include "GranOO3/Collision/CallBack.tpp"
 
 
#endif