solver_boolean_pp.hpp

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#pragma once
 
#include "collision_geometries.hpp"
#include "collision_solver_pp.hpp"
#include "contact_forces.hpp"
#include "particle.hpp"
#include "shape.hpp"
#include "shape_trimesh.hpp"
#include "utils_math.hpp"
#include "wall.hpp"
 
namespace netdem {
 
class SolverBooleanPP : public CollisionSolverPP {
public:
  SolverBooleanPP();
 
  SolverBooleanPP(Particle *const p1, Particle *const p2);
 
  CollisionSolverPP *Clone() const override;
 
  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(CollisionGeometries *const cnt_geoms, double timestep,
                   const VecXT<Vec3d> &vertices, const VecXT<Vec3i> &facets,
                   const VecXT<int> &facets_of_1or2);
 
  void ResolveUpdate(CollisionGeometries *const cnt_geoms, double timestep,
                     const VecXT<Vec3d> &vertices, const VecXT<Vec3i> &facets,
                     const VecXT<int> &facets_of_1or2);
 
  void ResolveInit_Equivalent(CollisionGeometries *const cnt_geoms,
                              double timestep);
 
  void ResolveUpdate_Equivalent(CollisionGeometries *const cnt_geoms,
                                double timestep);
 
  STLModel GetContactTriMesh(int id);
 
protected:
  double bound_sphere_radius_1;
 
  double bound_sphere_radius_2;
 
  Vec3d dpos_12;
 
  STLModel *stl_model_1{nullptr};
 
  STLModel *stl_model_2{nullptr};
 
  VecXT<Vec3d> vertices_isct;
 
  VecXT<Vec3i> facets_isct;
 
  VecXT<int> facets_birth_ids;
 
  VecXT<VecXT<Vec3i>> comp_facets_list;
 
  VecXT<VecXT<int>> comp_facets_of_1or2_list;
 
  void ClearIntersectInfo();
 
  void SeperateComponents();
};
 
} // namespace netdem