ContactRule.h

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#pragma once
#include "Collision/CollisionDetectionBroadPhase.h"
#include "Topology/TriangleSet.h"
#include "Primitive/Primitive3D.h"
#include "Module.h"
#include "Module/ConstraintModule.h"
 
namespace dyno
{
    template<typename TDataType> class CollisionDetectionBroadPhase;
 
    template<typename TDataType>
    class ContactRule : public  ConstraintModule
    {
        DECLARE_TCLASS(ContactRule, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
 
        ContactRule();
 
        virtual ~ContactRule();
 
        void constrain() override;
 
        void initCCDBroadPhase(); // One should call it AT LEAST ONCE to initial data 'mBroadPhaseCD' before update the model to get inState or outState updated.
        void setContactMaxIte(int ite) {
            this->ContactMaxIte = ite;
        }
    public:
        DEF_INSTANCE_IN(TriangleSet<TDataType>, TriangularMesh, "");
 
        DEF_VAR(Real, Xi, Real(0.15), "Thickness");
 
        DEF_VAR(Real, S, Real(0.1), "Refactor s");
 
        DEF_VAR_IN(Real, Unit, "Maximum primitive size (edge length)");
 
        DEF_ARRAY_IN(Coord, OldPosition, DeviceType::GPU, "Old Vertex Position");
 
        DEF_ARRAY_IN(Coord, NewPosition, DeviceType::GPU, "New Vertex Position");
 
        DEF_ARRAY_IN(Coord, Velocity, DeviceType::GPU, "Particle velocity");
 
        DEF_VAR_IN(Real, TimeStep, "");
 
    public:
        DEF_ARRAY_OUT(Coord, ContactForce, DeviceType::GPU, "Contact Force");
        DEF_ARRAY_OUT(Real, Weight, DeviceType::GPU, "Weight");
        Real weight;
    private:
        std::shared_ptr<CollisionDetectionBroadPhase<TDataType>> mBroadPhaseCD;
        DArrayList<Coord> firstTri;
        DArrayList<Coord> secondTri;
        DArrayList<int> trueContact;
        DArray<uint> trueContactCnt;
        DArray<Real> Weight;
        int ContactMaxIte = 150;
    };
}