nimble::NarrowphaseFunc Struct Reference

Public Member Functions
	NarrowphaseFunc (BvhContactManager *cm)
bvh::narrowphase_result_pair	operator() (const bvh::broadphase_collision< ContactEntity > &_a, const bvh::broadphase_collision< ContactEntity > &_b)

Public Attributes
BvhContactManager *	contact_manager

Constructor & Destructor Documentation

NarrowphaseFunc()

nimble::NarrowphaseFunc::NarrowphaseFunc ( BvhContactManager * cm )

inlineexplicit

: contact_manager{cm} {}

Member Function Documentation

operator()()

bvh::narrowphase_result_pair nimble::NarrowphaseFunc::operator() ( const bvh::broadphase_collision< ContactEntity > & _a, const bvh::broadphase_collision< ContactEntity > & _b )

inline

  {
    std::size_t num_possible_contacts = _a.elements.extent(0) * _b.elements.extent(0);
    auto res   = bvh::narrowphase_result_pair();
    res.a      = bvh::narrowphase_result(sizeof(NarrowphaseResult), num_possible_contacts);
    res.b      = bvh::narrowphase_result(sizeof(NarrowphaseResult), num_possible_contacts);
    auto resa = bvh::typed_narrowphase_result<NarrowphaseResult>(res.a);
    auto resb = bvh::typed_narrowphase_result<NarrowphaseResult>(res.b);
    auto tree = bvh::build_snapshot_tree_top_down(_a.elements);
 
    Kokkos::parallel_for(_b.elements.extent(0), KOKKOS_LAMBDA(int i) {
      auto elb = _b.elements(i);
      auto ra = resa;
      auto rb = resb;
      query_tree_local(tree, elb, [&_a, &_b, &elb, &ra, &rb, this](std::size_t _i) {
        const auto&       face = _a.elements[_i];
        const auto&       node = elb;
        NarrowphaseResult entry;
 
        bool   hit = false;
        double norm[3];
        ContactManager::Projection(node, face, hit, entry.gap, norm, entry.bary);
 
        if (hit) {
          details::getContactForce(contact_manager->GetPenaltyForceParam(), entry.gap, norm, entry.contact_force);
 
          entry.local_index = face.local_id();
          entry.node        = false;
          ra.emplace_back(entry);
 
          entry.local_index = node.local_id();
          entry.node        = true;
          rb.emplace_back(entry);
        }
      });
    });
 
    return res;
  }

Member Data Documentation

contact_manager

BvhContactManager* nimble::NarrowphaseFunc::contact_manager

---

The documentation for this struct was generated from the following file:

• src/contact/parallel/bvh_contact_manager.cc