arborx_serial_contact_manager.h

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#ifndef NIMBLE_ARBORX_SERIAL_CONTACT_MANAGER_H
#define NIMBLE_ARBORX_SERIAL_CONTACT_MANAGER_H
 
#ifdef NIMBLE_HAVE_ARBORX
 
#include <memory>
 
#include "serial_contact_manager.h"
 
namespace nimble_kokkos {
 
class ModelData;
 
}
 
namespace nimble {
 
class DataManager;
 
class ArborXSerialContactManager : public SerialContactManager
{
 public:
  ArborXSerialContactManager(std::shared_ptr<ContactInterface> interface, nimble::DataManager& data_manager);
  ArborXSerialContactManager(const ArborXSerialContactManager&) = delete;
 
  ~ArborXSerialContactManager() override = default;
 
  void
  ComputeSerialContactForce(int step, bool debug_output, nimble::Viewify<2> contact_force) override;
 
 private:
  template <typename ContactManagerType>
  friend struct ArborXCallback;
 
  void
  updateCollisionData(
      Kokkos::View<int*, nimble_kokkos::kokkos_device>& indices,
      Kokkos::View<int*, nimble_kokkos::kokkos_device>& offset);
 
  nimble_kokkos::ModelData* model_data = nullptr;
};
}  // namespace nimble
 
#endif  // NIMBLE_HAVE_ARBORX
 
#endif  // NIMBLE_ARBORX_SERIAL_CONTACT_MANAGER_H