solver_ann_pp.hpp

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#pragma once
 
#include "collision_geometries.hpp"
#include "collision_solver_pp.hpp"
#include "contact_model_factory.hpp"
#include "general_net.hpp"
#include "particle.hpp"
#include "regression_net.hpp"
#include "shape.hpp"
#include "shape_trimesh.hpp"
#include "wall.hpp"
#include <string>
 
namespace netdem {
 
class SolverANNPP : public CollisionSolverPP {
public:
  netdem::GeneralNet classifier;
 
  netdem::RegressionNet regressor;
 
  SolverANNPP();
 
  SolverANNPP(Particle *const p1, Particle *const p2);
 
  CollisionSolverPP *Clone() const override;
 
  void Init(std::string const &classifier_file,
            std::string const &regressor_file);
 
  void Init(Particle *const p1, Particle *const p2) override;
 
  bool Detect() override;
 
  void ResolveInit(ContactPP *const cnt, double timestep) override;
 
  void ResolveUpdate(ContactPP *const cnt, double timestep) override;
 
  void ResolveInit_LinearSpring(CollisionGeometries *const cnt_geoms,
                                double timestep);
 
  void ResolveUpdate_LinearSpring(CollisionGeometries *const cnt_geoms,
                                  double timestep);
 
  void ResolveInit_VolumeBased(CollisionGeometries *const cnt_geoms,
                               double timestep);
 
  void ResolveUpdate_VolumeBased(CollisionGeometries *const cnt_geoms,
                                 double timestep);
 
  void ResolveInit_PotentialBased(CollisionGeometries *const cnt_geoms,
                                  double timestep);
 
  void ResolveUpdate_PotentialBased(CollisionGeometries *const cnt_geoms,
                                    double timestep);
 
  std::tuple<double, Vec3d> GetPotential(Vec3d const &pos, Vec4d const &quat);
 
  std::tuple<Vec3d, Vec3d, Vec3d> EvaluateContactForces();
 
private:
  Shape *shape_1{nullptr};
 
  Shape *shape_2{nullptr};
 
  double bound_sphere_radius_1;
 
  double bound_sphere_radius_2;
 
  double scale;
 
  Vec3d dpos_12;
 
  Vec3d dpos_12_ref;
 
  Vec4d dquat_12;
};
} // namespace netdem