parallel_contact_manager.h

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#ifndef NIMBLE_PARALLEL_CONTACT_MANAGER_H
#define NIMBLE_PARALLEL_CONTACT_MANAGER_H
 
#if defined(NIMBLE_HAVE_MPI)
 
#include "nimble_contact_manager.h"
 
namespace nimble {
 
class DataManager;
class ContactInterface;
 
class ParallelContactManager : public ContactManager
{
 public:
  ParallelContactManager(std::shared_ptr<ContactInterface> interface, nimble::DataManager& data_manager);
 
  void
  ComputeContactForce(int step, bool debug_output, nimble::Viewify<2> contact_force) override
  {
    this->startTimer("Contact:ResetData");
    ContactManager::ZeroContactForce();
    ContactManager::ResetContactStatus();
    this->stopTimer("Contact:ResetData");
 
    this->ComputeParallelContactForce(step, debug_output, contact_force);
  }
 
  int
  Rank() const noexcept
  {
    return m_rank;
  }
  int
  NumRanks() const noexcept
  {
    return m_num_ranks;
  }
 
 protected:
 
  virtual void
  ComputeParallelContactForce(int step, bool debug_output, nimble::Viewify<2> contact_force) = 0;
 
  int m_rank      = 0;
  int m_num_ranks = 1;
};
}  // namespace nimble
 
#endif
 
#endif  // NIMBLE_PARALLEL_CONTACT_MANAGER_H