CollistionDetectionTriangleSet.h

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#pragma once
#include "Module/ComputeModule.h"
 
#include "Topology/DiscreteElements.h"
#include "Topology/TriangleSet.h"
#include "Topology/LinearBVH.h"
 
#include "CollisionData.h"
#include "CollisionDetectionBroadPhase.h"
 
namespace dyno {
    template<typename TDataType>
    class CollistionDetectionTriangleSet : public ComputeModule
    {
        DECLARE_TCLASS(CollistionDetectionTriangleSet, TDataType)
 
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename ::dyno::TAlignedBox3D<Real> AABB;
        typedef typename ::dyno::TContactPair<Real> ContactPair;
        typedef typename ::dyno::TOrientedBox3D<Real> Box3D;
 
        CollistionDetectionTriangleSet();
        ~CollistionDetectionTriangleSet() override;
 
    public:
        DEF_INSTANCE_IN(DiscreteElements<TDataType>, DiscreteElements, "");
 
        DEF_INSTANCE_IN(TriangleSet<TDataType>, TriangleSet, "");
 
        DEF_ARRAY_OUT(ContactPair, Contacts, DeviceType::GPU, "");
 
    protected:
        void compute() override;
 
    private:
        Scan<int> mScan;
        Reduction<int> mReduce;
 
        DArray<AABB> mQueryAABB;
        DArray<AABB> mTriangleAABB;
        LinearBVH<TDataType> mLBVH;
 
        DArray<int> mBoundaryContactCounter;
        DArray<int> mBoundaryContactCpy;
        DArray<ContactPair> mContactBuffer;
 
        std::shared_ptr<CollisionDetectionBroadPhase<TDataType>> mBroadPhaseCD;
    };
 
    IMPLEMENT_TCLASS(CollistionDetectionTriangleSet, TDataType)
}