solver_sphere_triangle.hpp

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#pragma once
 
#include "collision_geometries.hpp"
#include "collision_solver_pw.hpp"
#include "contact_forces.hpp"
#include "particle.hpp"
#include "shape.hpp"
#include "shape_sphere.hpp"
#include "shape_triangle.hpp"
#include "wall.hpp"
 
namespace netdem {
 
class SolverSphereTriangle : public CollisionSolverPW {
public:
  SolverSphereTriangle();
 
  SolverSphereTriangle(Particle *const p, Wall *const w);
 
  CollisionSolverPW *Clone() const override;
 
  void Init(Particle *const p, Wall *const w) override;
 
  bool Detect() override;
 
  void ResolveInit(ContactPW *const cnt, double timestep) override;
 
  void ResolveUpdate(ContactPW *const cnt, double timestep) override;
 
  void ResolveInit(CollisionGeometries *const cnt_geoms, double timestep);
 
  void ResolveUpdate(CollisionGeometries *const cnt_geoms, double timestep);
 
private:
  double radius_1;
 
  double dist_pc_to_tri;
 
  Vec3d cnt_pos;
 
  Vec3d cnt_dir_n;
 
  double cnt_len_n;
 
  double cnt_weight;
 
  Triangle triangle;
 
  void UpdateLocalTriangle();
 
  void ResolvePotentialContact();
 
  inline Vec3d GetLineCircleIntersection(double cr, Vec3d const &cc,
                                         double dist_to_line,
                                         Vec3d const &dir_n_cross_line,
                                         Vec3d const &v0, Vec3d const &v1);
 
  inline double GetTriangleArea(Vec3d const &v0, Vec3d const &v1,
                                Vec3d const &v2);
 
  inline double GetCircleSegmentArea(double cr, double signed_d);
};
 
} // namespace netdem