collision_solver_pw.hpp

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#pragma once
 
#include "collision_geometries.hpp"
#include "contact_model.hpp"
#include "contact_pw.hpp"
#include "particle.hpp"
#include "wall.hpp"
 
namespace netdem {
 
class CollisionSolverPW {
public:
  Particle *particle{nullptr};
 
  Wall *wall{nullptr};
 
  CollisionSolverPW() {}
 
  CollisionSolverPW(Particle *const p, Wall *const w) : particle(p), wall(w) {}
 
  virtual CollisionSolverPW *Clone() const = 0;
 
  virtual void Init(Particle *const p, Wall *const w) {
    particle = p;
    wall = w;
  }
 
  virtual bool Detect() = 0;
 
  virtual bool Detect(ContactPW *const cnt) { return Detect(); }
 
  virtual void ResolveInit(ContactPW *const cnt, double timestep) = 0;
 
  virtual void ResolveUpdate(ContactPW *const cnt, double timestep) = 0;
 
  virtual ~CollisionSolverPW() {}
 
protected:
  void InitBasicGeoms(CollisionGeometries *const cnt_geoms, double timestep);
 
  void UpdateBasicGeoms(CollisionGeometries *const cnt_geoms, double timestep,
                        Vec3d const &dir_n_old);
};
 
} // namespace netdem