solver_sdf_pp.hpp

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#pragma once
 
#include "collision_geometries.hpp"
#include "collision_solver_pp.hpp"
#include "particle.hpp"
#include "shape.hpp"
 
namespace netdem {
 
class SolverSDFPP : public CollisionSolverPP {
public:
  enum PotentialType { linear, hertz };
 
  int potential_type{PotentialType::linear};
 
  bool solve_two_sides{false};
 
  bool use_equivalent_stiffness{true};
 
  double beta{0.65};
 
  SolverSDFPP();
 
  SolverSDFPP(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);
 
  void ResolveUpdate(CollisionGeometries *const cnt_geoms, double timestep);
 
  void ResolveInitP2ToP1(CollisionGeometries *const cnt_geoms, double timestep);
 
  void ResolveUpdateP2ToP1(CollisionGeometries *const cnt_geoms,
                           double timestep);
 
  void ResolveInitP1ToP2(CollisionGeometries *const cnt_geoms, double timestep);
 
  void ResolveUpdateP1ToP2(CollisionGeometries *const cnt_geoms,
                           double timestep);
 
  double GetPotential(double dist, double node_area, double size_eq,
                      double size_ratio);
 
  static double KiToKn(double ki, double size_eq, double size_ratio);
 
  static double KiFromKn(double kn, double size_eq, double size_ratio);
 
  static double KiToEstar(double ki, double size_eq, double size_ratio);
 
  static double KiFromEstar(double Estar, double size_eq, double size_ratio);
 
private:
  bool solve_1to2{false}, solve_2to1{false};
 
  double bound_sphere_radius_1, bound_sphere_radius_2;
 
  // particle 1 as reference particle
  Vec3d pos_1, dpos_12, dpos_12_ref;
  Vec4d quat_1, dquat_12;
 
  // particle 2 as reference particle
  Vec3d pos_2, dpos_21, dpos_21_ref;
  Vec4d quat_2, dquat_21;
 
  Shape *shape_1{nullptr}, *shape_2{nullptr};
 
  VecXT<int> node_id_12_list;
  VecXT<int> node_id_21_list;
 
  VecXT<double> node_dist_12_list;
  VecXT<double> node_dist_21_list;
};
 
} // namespace netdem