CollisionDetectionBroadPhase.h

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#pragma once
#include "Module/ComputeModule.h"
 
#include "Algorithm/Reduction.h"
#include "Primitive/Primitive3D.h"
 
#include "Topology/LinearBVH.h"
 
namespace dyno
{
    typedef typename ::dyno::TAlignedBox3D<Real> AABB;
    typedef unsigned long long int PKey;
 
    template<typename TDataType>
    class CollisionDetectionBroadPhase : public ComputeModule
    {
        DECLARE_TCLASS(CollisionDetectionBroadPhase, TDataType)
    public:
        typedef typename TDataType::Real Real;
        typedef typename TDataType::Coord Coord;
        typedef typename TDataType::Matrix Matrix;
 
        CollisionDetectionBroadPhase();
        ~CollisionDetectionBroadPhase() override;
 
    public:
        DECLARE_ENUM(EStructure,
            BVH = 0,
            Octree = 1);
 
        DEF_ENUM(EStructure, AccelerationStructure, EStructure::BVH, "Acceleration structure");
 
        DEF_VAR(Real, GridSizeLimit, 0.005, "Limit the smallest grid size");
 
        DEF_VAR(bool, SelfCollision, false, "");
 
        DEF_ARRAY_IN(AABB, Source, DeviceType::GPU, "");
 
        DEF_ARRAY_IN(AABB, Target, DeviceType::GPU, "");
 
        DEF_ARRAYLIST_OUT(int, ContactList, DeviceType::GPU, "Contact pairs");
 
    protected:
        void compute() override;
 
    private:
        void doCollisionWithSparseOctree();
        void doCollisionWithLinearBVH();
 
    private:
        Reduction<Real> m_reduce_real;
        Reduction<Coord> m_reduce_coord;
 
        DArray<Real> mH;
 
        DArray<Coord> mV0;
        DArray<Coord> mV1;
 
        DArray<uint> mCounter;
        DArray<uint> mNewCounter;
 
        DArray<int> mIds;
        DArray<PKey> mKeys;
 
        LinearBVH<TDataType> bvh;
    };
 
    IMPLEMENT_TCLASS(CollisionDetectionBroadPhase, TDataType)
}