contact_patch_solver.h

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#ifndef COAL_CONTACT_PATCH_SOLVER_H
#define COAL_CONTACT_PATCH_SOLVER_H

#include "coal/collision_data.h"
#include "coal/logging.h"
#include "coal/narrowphase/gjk.h"

namespace coal {

struct COAL_DLLAPI ContactPatchSolver {
 // Note: `ContactPatch` is an alias for `SupportSet`.
 // The two can be used interchangeably.
 using ShapeSupportData = details::ShapeSupportData;
 using SupportSetDirection = SupportSet::PatchDirection;

 typedef void (*SupportSetFunction)(const ShapeBase* shape,
 SupportSet& support_set, int& hint,
 ShapeSupportData& support_data,
 size_t num_sampled_supports,
 CoalScalar tol);

 static constexpr size_t default_num_preallocated_supports = 16;

 size_t num_samples_curved_shapes;

 CoalScalar patch_tolerance;

 mutable SupportSetFunction supportFuncShape1;

 mutable SupportSetFunction supportFuncShape2;

 mutable std::array<ShapeSupportData, 2> supports_data;

 mutable support_func_guess_t support_guess;

 mutable SupportSet support_set_shape1;

 mutable SupportSet support_set_shape2;

 mutable SupportSet support_set_buffer;

 mutable std::vector<bool> added_to_patch;

 explicit ContactPatchSolver() {
 const size_t num_contact_patch = 1;
 const size_t preallocated_patch_size =
 ContactPatch::default_preallocated_size;
 const CoalScalar patch_tolerance = 1e-3;
 const ContactPatchRequest request(num_contact_patch,
 preallocated_patch_size, patch_tolerance);
 this->set(request);
 }

 explicit ContactPatchSolver(const ContactPatchRequest& request) {
 this->set(request);
 }

 void set(const ContactPatchRequest& request);

 void setSupportGuess(const support_func_guess_t guess) const {
 this->support_guess = guess;
 }

 template <typename ShapeType1, typename ShapeType2>
 void computePatch(const ShapeType1& s1, const Transform3s& tf1,
 const ShapeType2& s2, const Transform3s& tf2,
 const Contact& contact, ContactPatch& contact_patch) const;

 template <typename ShapeType1, typename ShapeType2>
 void reset(const ShapeType1& shape1, const Transform3s& tf1,
 const ShapeType2& shape2, const Transform3s& tf2,
 const ContactPatch& contact_patch) const;

 void getResult(const Contact& contact, const ContactPatch::Polygon* result,
 ContactPatch& contact_patch) const;

 static Vec2s computeLineSegmentIntersection(const Vec2s& a, const Vec2s& b,
 const Vec2s& c, const Vec2s& d);

 static SupportSetFunction makeSupportSetFunction(
 const ShapeBase* shape, ShapeSupportData& support_data);

 bool operator==(const ContactPatchSolver& other) const {
 return this->num_samples_curved_shapes == other.num_samples_curved_shapes &&
 this->patch_tolerance == other.patch_tolerance &&
 this->support_guess == other.support_guess &&
 this->support_set_shape1 == other.support_set_shape1 &&
 this->support_set_shape2 == other.support_set_shape2 &&
 this->support_set_buffer == other.support_set_buffer &&
 this->added_to_patch == other.added_to_patch &&
 this->supportFuncShape1 == other.supportFuncShape1 &&
 this->supportFuncShape2 == other.supportFuncShape2;
 }

 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

} // namespace coal

#include "coal/contact_patch/contact_patch_solver.hxx"

#endif // COAL_CONTACT_PATCH_SOLVER_H