contact_patch.h

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#ifndef COAL_CONTACT_PATCH_H
#define COAL_CONTACT_PATCH_H

#include "coal/data_types.h"
#include "coal/collision_data.h"
#include "coal/contact_patch/contact_patch_solver.h"
#include "coal/contact_patch_func_matrix.h"

namespace coal {

COAL_DLLAPI void computeContactPatch(const CollisionGeometry* o1,
 const Transform3s& tf1,
 const CollisionGeometry* o2,
 const Transform3s& tf2,
 const CollisionResult& collision_result,
 const ContactPatchRequest& request,
 ContactPatchResult& result);

// const CollisionGeometry*, const Transform3s&, const CollisionResult&, const
// ContactPatchRequest&, ContactPatchResult&);
COAL_DLLAPI void computeContactPatch(const CollisionObject* o1,
 const CollisionObject* o2,
 const CollisionResult& collision_result,
 const ContactPatchRequest& request,
 ContactPatchResult& result);

class COAL_DLLAPI ComputeContactPatch {
 public:
 ComputeContactPatch(const CollisionGeometry* o1, const CollisionGeometry* o2);

 void operator()(const Transform3s& tf1, const Transform3s& tf2,
 const CollisionResult& collision_result,
 const ContactPatchRequest& request,
 ContactPatchResult& result) const;

 bool operator==(const ComputeContactPatch& other) const {
 return this->o1 == other.o1 && this->o2 == other.o2 &&
 this->csolver == other.csolver;
 }

 bool operator!=(const ComputeContactPatch& other) const {
 return !(*this == other);
 }

 virtual ~ComputeContactPatch() = default;

 protected:
 // These pointers are made mutable to let the derived classes to update
 // their values when updating the collision geometry (e.g. creating a new
 // one). This feature should be used carefully to avoid any mis usage (e.g,
 // changing the type of the collision geometry should be avoided).
 mutable const CollisionGeometry* o1;
 mutable const CollisionGeometry* o2;

 mutable ContactPatchSolver csolver;

 ContactPatchFunctionMatrix::ContactPatchFunc func;
 bool swap_geoms;

 virtual void run(const Transform3s& tf1, const Transform3s& tf2,
 const CollisionResult& collision_result,
 const ContactPatchRequest& request,
 ContactPatchResult& result) const;

 public:
 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace coal

#endif