bvh_contact_manager.h

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#ifndef NIMBLE_BVH_CONTACT_MANAGER_H
#define NIMBLE_BVH_CONTACT_MANAGER_H
 
#include <bvh/collision_world.hpp>
#include <bvh/types.hpp>
 
#include <memory>
 
#include "parallel_contact_manager.h"
 
namespace bvh {
 
class collision_object;
 
}
 
namespace nimble {
struct NarrowphaseResult
{
  std::size_t local_index;
  double      gap;
  double      contact_force[3];
  double      bary[3];
  bool        node;
};
 
class BvhContactManager : public ParallelContactManager
{
 public:
  BvhContactManager(
      std::shared_ptr<ContactInterface> interface,
      nimble::DataManager&              data_manager,
      std::size_t                       _overdecomposition,
      std::string                       splitting_alg);
 
  BvhContactManager(const BvhContactManager&) = delete;
  BvhContactManager(BvhContactManager&&)      = delete;
 
  BvhContactManager&
  operator=(const BvhContactManager&) = delete;
  BvhContactManager&
  operator=(BvhContactManager&&) = delete;
 
  ~BvhContactManager() = default;
 
 protected:
  void
  ComputeParallelContactForce(int step, bool debug_output, nimble::Viewify<2> contact_force) override;
 
  void
  ComputeBoundingVolumes();
 
  bvh::collision_world   m_world;
  bvh::collision_object* m_nodes;
  bvh::collision_object* m_faces;
 
  bvh::split_algorithm m_split_alg = bvh::split_algorithm::geom_axis;
 
  std::vector<NarrowphaseResult> m_last_results;
};
}  // namespace nimble
 
#endif  // NIMBLESM_BVH_CONTACT_MANAGER_H