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contact_manager0.hh
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			/**
			* @file contact_manager0.hh
			*
			* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
			*
			* @date creation: Tue May 13 2014
			* @date last modification: Tue May 13 2014
			*
			* @brief zeroth level of contact (simplest implementation)
			*
			* @section LICENSE
			*
			* Copyright (©) 2014 EPFL (Ecole Polytechnique Fédérale de Lausanne)
			* Laboratory (LSMS - Laboratoire de Simulation en Mécanique des Solides)
			*
			* Akantu is free software: you can redistribute it and/or modify it under the
			* terms of the GNU Lesser General Public License as published by the Free
			* Software Foundation, either version 3 of the License, or (at your option) any
			* later version.
			*
			* Akantu is distributed in the hope that it will be useful, but WITHOUT ANY
			* WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS FOR
			* A PARTICULAR PURPOSE. See the GNU Lesser General Public License for more
			* details.
			*
			* You should have received a copy of the GNU Lesser General Public License
			* along with Akantu. If not, see <http://www.gnu.org/licenses/>.
			*
			*/

			/* -------------------------------------------------------------------------- */

			#ifndef __AKANTU_CONTACT_MANAGER_0_HH__
			#define __AKANTU_CONTACT_MANAGER_0_HH__

			#include <unordered_set>


			//#include "aka_common.hh"
			#include "model_manager.hh"

			#define DEBUG_MANAGER 1


			__BEGIN_AKANTU__


			template <class pair_type>
			class PairComp {

			public:
			bool operator()(pair_type const &a, pair_type const &b) {
			return a.first->first < b.first->first
			\|\| (!(b.first->first < a.first->first) && a.second->first < b.second->first);
			}
			};







			template <class Bounding_policy, Discretization_type DT, Consider_acceleration accel = Consider_t, template <class> class Cost_policy = Cost_functor>
			class Contact0_model_manager : public Model_manager<SolidMechanicsModel>, public Kinematic_traits<accel> {


			using Kinematic_traits<accel>::resolve_time;

			typedef Real time_type;
			typedef ctimer chronograph_type;

			// model type
			typedef SolidMechanicsModel model_type;
			typedef model_type* model_pointer;
			typedef model_type& model_reference;

			// geometric types
			typedef Bounding_policy volume_type;
			typedef typename volume_type::point_type point_type;
			typedef typename point_type::value_type value_type;
			typedef typename volume_type::aabb_type aabb_type;

			// element type
			typedef ModelElement<model_type> element_type;

			// Bounding volume hierarchy related types
			typedef Cost_policy<volume_type> cost_functor;
			typedef DataTree<volume_type, element_type, Cost_policy > tree_type;
			typedef typename tree_type::leaves_data_iterator leaves_data_iterator;
			typedef typename tree_type::leaf_iterator tree_leaf_iterator;
			typedef typename tree_type::iterator tree_iterator;
			typedef typename tree_type::const_iterator const_tree_iterator;
			typedef std::list<tree_type*> forest_container;
			typedef typename forest_container::iterator forest_iterator;
			typedef typename forest_container::const_iterator const_forest_iterator;

			// data structure for detailed check
			typedef std::pair<leaves_data_iterator, leaves_data_iterator> check_type;


			// typedef std::unordered_set<check_type, PairComp2<check_type> > check_container;
			typedef std::set<check_type, PairComp<check_type> > check_container;
			typedef typename check_container::iterator check_iterator;

			// kinematic types
			typedef point_type velocity_type;
			typedef std::list<velocity_type> velocity_container;
			typedef typename velocity_container::iterator velocity_iterator;

			typedef unsigned long mask_size;

			// timer type
			typedef std::priority_queue<time_type, std::vector<time_type>, std::greater<time_type> > timer_type;

			// tuple type
			typedef std::tuple<time_type, tree_iterator, tree_iterator> tuple_type;

			struct Tuple_compare {
			bool operator()(const tuple_type& t1, const tuple_type& t2) const
			{ return std::get<0>(t1) > std::get<0>(t2); }
			};

			typedef typename std::priority_queue<tuple_type, std::vector<tuple_type>, Tuple_compare> hierarchy_timer;


			//! Structure used to do a postorder update of tree hierarchies
			struct Updater {

			tree_type &t_; //!< Reference to hierarchy

			Updater(tree_type& t) : t_(t) {}

			void operator()(tree_iterator it) {
			if (!it.is_leaf()) {
			volume_type& v = *it;
			volume_type& lv = *it.left();
			volume_type& rv = *it.right();
			v = lv + rv;
			assert(lv.last_time_ == rv.last_time_);
			v.last_time_ = lv.last_time_;
			v.velocity_ = 0.5 * (lv.velocity_ + rv.velocity_);
			v.acceleration_ = 0.5 * (lv.acceleration_ + rv.acceleration_);
			}
			}
			};

			struct Printer {
			void operator()(tree_iterator it)
			{ cout<<*it<<", "; }
			};

			class Time_exception : public std::exception {
			virtual const char* what() const throw()
			{ return "* EXCEPTION * Zero time increment."; }
			};

			struct Continuator : public std::exception {

			tuple_type best_;

			Continuator(const tuple_type& b) : best_(b) {}

			virtual const char* what() const throw()
			{ return "* EXCEPTION * Continue."; }
			};

			template <bool flag>
			struct Bool2Type {
			enum { value = flag };
			};

			private:

			forest_container forest_; //!< Bounding volume hierarchies
			hierarchy_timer timer_; //!< Priority queue of times
			mask_size masks_; //!< Variable used for static objects
			tree_iterator null_;
			time_type last_; //!< Keep time of last detection engine reset
			check_container detailed_;
			bool detect_;

			//! Data structure that holds contact data
			struct ContactData {

			typedef SolidMechanicsModel model_type;
			typedef ModelElement<model_type> element_type;

			typedef std::set<UInt> node_set;

			struct Comparator {
			template <class iterator>
			bool operator()(iterator const &a, iterator const &b)
			{ return a->first < b->first; }
			};

			typedef std::set<leaves_data_iterator, Comparator> elem_set;

			leaves_data_iterator left_;
			leaves_data_iterator right_;

			mutable elem_set ssurface_;
			mutable elem_set msurface_;
			mutable node_set slaves_;

			mutable tree_type *stree_;
			mutable tree_type *mtree_;

			ContactData(leaves_data_iterator l, leaves_data_iterator r) : left_(l), right_(r), ssurface_(), msurface_(), slaves_(), stree_(nullptr), mtree_(nullptr) {}

			template <class neighbor_type>
			void initialize(neighbor_type& ln, neighbor_type& rn) const {

			stree_ = ln.tree_;
			mtree_ = rn.tree_;

			// insert slave and master elements
			for (auto it = ln.elems_.begin(); it != ln.elems_.end(); ++it)
			ssurface_.insert(*it);
			for (auto it = rn.elems_.begin(); it != rn.elems_.end(); ++it)
			msurface_.insert(*it);
			}



			bool operator<(const ContactData& cd) const {

			return this->left_->first < cd.left_->first
			\|\| (!(cd.left_->first < this->left_->first) && this->right_->first < cd.right_->first);
			}


			friend std::ostream& operator<<(std::ostream& os, const ContactData& cd) {

			os<<"Contact data info:"<<endl;
			os<<" "<<cd.slaves_.size()<<" slave nodes";
			// for (std::set<UInt>::const_iterator it = cd.slaves_.begin(); it!=cd.slaves_.end(); ++it)
			// os<<" "<<*it<<endl;
			// os<<" "<<*it;
			return os;
			}

			};

			std::set<ContactData> contact_;
			typedef typename std::set<ContactData>::iterator contact_iterator;

			public:

			//! Default constructor
			Contact0_model_manager()
			: Model_manager(), forest_(), timer_(), masks_(), null_(tree_iterator(nullptr)), last_(), detect_(true) {}

			//! Destructor
			~Contact0_model_manager() {

			// delete trees
			for (forest_iterator it = forest_.begin(); it != forest_.end(); ++it)
			delete *it;
			}

			virtual void add_model(model_pointer m, Kinematic_type k = dynamic_object_t) {

			m->initializeUpdateResidualData();
			models_.push_back(m);

			if (models_.size() > 8*sizeof(mask_size)) {
			cout<<"* ERROR * Type used for masks is too small to handle all models."<<endl;
			cout<<"Aborting..."<<endl;
			exit(1);
			}

			// create tree
			tree_type* tp = construct_tree_bottom_up<tree_type, model_type, element_type>(*m);
			forest_.push_back(tp);


			#ifdef DEBUG_MANAGER
			// cout<<"tree "<<*tp<<endl;
			// print_mathematica(*tp);
			#endif

			// mask model as dynamic or static
			masks_ \|= (k << (models_.size()-1));
			}


			void update_forest(time_type t) {

			int k = 0;
			for (forest_iterator fit = forest_.begin(); fit != forest_.end(); ++fit) {

			// check if the object is dynamic to update
			if (!(masks_ & (1 << k++)))
			continue;

			// loop over leaves
			for (leaves_data_iterator lit = (*fit)->leaves_data_begin();
			lit != (*fit)->leaves_data_end(); ++lit) {

			Real t_old = lit->first->last_time_;

			std::vector<const Real*> c = lit->second.coordinates();
			volume_type v = Volume_creator<volume_type>::create(c);

			// get positions
			const point_type& p0 = lit->first->center();
			const point_type& p1 = v.center();

			// get velocities
			const point_type& v0 = lit->first->velocity_;
			const point_type& v1 = v.velocity_;

			// new velocity and acceleration
			v.velocity_ = 1/(t - t_old) * (p1-p0);
			v.acceleration_ = 1/(t - t_old) * (v1-v0);

			v.last_time_ = t;

			// set new volume
			*lit->first = v;
			}

			tree_type &t = **fit;
			Updater u(t);
			postorder(t.root(),u);
			}
			}


			void reset() {

			// clear queue
			while (!timer_.empty())
			timer_.pop();

			timer_.push(std::make_tuple(last_, null_, null_));
			timer_.push(std::make_tuple(inf, null_, null_));
			}


			template <class queue_type>
			void print_queue(queue_type copy) {

			cout<<"Printing queue values:";
			while (!copy.empty()) {
			const tuple_type& tuple = copy.top();
			cout<<" "<<std::get<0>(tuple);
			copy.pop();
			}
			cout<<endl;
			}



			/*! \param t - Current elapsed time
			* \param Dt - Time step
			*/
			void intersect(time_type t, time_type Dt) {

			#ifdef DEBUG_MANAGER
			cout<<"t = "<<t<<endl;
			// cout<<"t = "<<t<<", Dt = "<<Dt<<", timer:";

			// hierarchy_timer copy = timer_;
			// while (!copy.empty()) {
			// const tuple_type& tuple = copy.top();
			// cout<<" "<<std::get<0>(tuple);
			// copy.pop();
			// }
			// cout<<endl;

			#endif

			static time_type Dt1 = Dt;

			// reset if first enter the function
			if (t == last_ \|\| t == Dt1) {
			Dt = Dt1;
			reset();
			}

			const tuple_type& tuple = timer_.top();
			time_type top = std::get<0>(tuple);

			// update hierarchies and get positions
			// note that the updating starts before the next intetersection check
			if (models_.size() > 1 && top <= t + 3*Dt1) {
			update_forest(t);
			//#ifdef DEBUG_MANAGER
			// cout<<"Updating forest"<<endl;
			//#endif
			}

			// check if detection is shut off
			if (t + Dt < top)
			return;

			if (detect_) {

			// get iterators from priority element
			tree_iterator it1 = std::get<1>(tuple);
			tree_iterator it2 = std::get<2>(tuple);

			// remove time from timer
			timer_.pop();

			// check for intersection becase:
			// 1. there are enough models
			// 2. intersection happens before the next increment
			if (models_.size() > 1 && top <= t + Dt1) {

			// if first step, add next time to timer and return because there
			// is not enough information for the computation of intersection times
			if (t <= last_ + (accel == Consider_t ? 2 : 1)*Dt) {
			// remove time from timer
			timer_.push(std::make_tuple(t, null_, null_));
			#ifdef DEBUG_MANAGER
			cout<<"Early out"<<endl;
			#endif
			return;
			}

			// check if iterators are null to compute O(n^2) collision times
			if (it1 == null_ \|\| it2 == null_) {

			// do O(n^2) operation to obtain next time of intersections
			for (forest_iterator it1 = forest_.begin(); it1 != --forest_.end(); ++it1) {

			forest_iterator it2 = it1;
			for (++it2; it2 != forest_.end(); ++it2) {

			// get collision time
			#ifdef DEBUG_MANAGER
			cout<<"Calling check_collision in O(n^2) branch"<<endl;
			#endif
			time_type tstar = resolve_time((it1)->root(), (it2)->root());
			if (tstar != inf)
			timer_.push(std::make_tuple(t+tstar, (it1)->root(), (it2)->root()));
			#ifdef DEBUG_MANAGER
			else
			cout<<"* INFO * Objects do not intersect:\n "<<(it1)->root()<<"\n "<<(it2)->root()<<endl;
			#endif
			} // inner hierarchy loop
			} // outer hierarchy loop

			}

			// else use collision information previously computed (avoids O(n^2) operation above)
			else {

			#ifdef DEBUG_MANAGER
			cout<<"Calling check_collision in non-O(n^2) branch"<<endl;
			#endif

			// temporary queue for tree traversal
			hierarchy_timer pq;
			pq.push(std::make_tuple(top, it1, it2));

			try {

			// enter infinite loop
			while (!pq.empty()) {

			#ifdef DEBUG_MANAGER
			cout<<"______________________________________________"<<endl;
			cout<<"queue empty? -> "<<pq.empty()<<endl;
			if (!pq.empty())
			print_queue(pq);
			#endif

			const tuple_type& tuple = pq.top();

			time_type tstar = std::get<0>(tuple);
			tree_iterator left = std::get<1>(tuple);
			tree_iterator right = std::get<2>(tuple);

			#ifdef DEBUG_MANAGER
			cout<<"Queue time "<<tstar<<", items: "<<left<<", "<<right<<endl;
			#endif

			pq.pop();

			check_collision(t, left, right, pq);

			} // infinite loop

			}
			catch (Continuator& e) {

			cout<<"In continuator"<<endl;

			tuple_type& best = e.best_;
			time_type& best_time = std::get<0>(best);
			best_time += t;

			// clean hierarchy timer until best time
			while (std::get<0>(timer_.top()) <= best_time)
			timer_.pop();

			timer_.push(best);
			timer_.push(best);

			}

			}

			} // if statement on enough models
			// else do nothing as there are not enough models to carry out intersection
			// or the check engine is shut down until the next time in timer
			}

			// detailed check
			detailed_check(t, Dt);
			}


			struct Neighbor_finder {

			int count_;
			element_type *el_;
			tree_type *tree_;

			class Comparator {

			public:
			template <class iterator>
			bool operator()(iterator const &a, iterator const &b) {
			return a->first < b->first;
			}
			};

			std::set<leaves_data_iterator, Comparator > elems_;

			Neighbor_finder() : count_(), el_(nullptr), tree_(nullptr) {}

			UInt size() const
			{ return elems_.size(); }

			template <class container>
			void add_slaves(container& c) {

			for (auto it = elems_.begin(); it != elems_.end(); ++it) {
			auto elem = (*it)->second;
			for (size_t i=0; i<elem.numNodes(); ++i)
			c.insert(elem.node(i));
			}
			}

			template <class container>
			void add_masters(container& c) {

			for (auto it = elems_.begin(); it != elems_.end(); ++it)
			c.insert(&(*it)->second);
			}

			bool operator()() { assert(el_ != nullptr); return elems_.size() == el_->numNodes()+1; }

			void operator()(tree_iterator it) {

			assert(tree_ != nullptr);
			assert(el_ != nullptr);
			auto eit = tree_->find_data(it);
			if (eit != tree_->leaves_data_end())
			if (el_->shareNodes(eit->second))
			elems_.insert(eit);
			++count_;
			}

			friend std::ostream& operator<<(std::ostream& os, const Neighbor_finder& nf) {

			os<<"Neighbor finder info:"<<endl;
			os<<" found neighbors in "<<nf.count_<<" evaluations"<<endl;

			if (nf.el_)
			os<<" reference element "<<*nf.el_<<endl;

			cout<<" neighbors: "<<nf.size()<<endl;
			for (auto n:nf.elems_)
			os<<'\t'<<n->second<<'\n';
			return os;
			}

			};


			void detailed_check(time_type t, time_type Dt) {

			constexpr int dim = point_type::dim();

			if (contact_.size() > 0) {

			// loop over contact structures
			for (contact_iterator cit = contact_.begin(); cit != contact_.end(); ++cit) {

			ContactData& c = const_cast<ContactData&>(*cit);

			typedef std::set<element_type> elem_list;
			typedef std::pair<point_type, vector_type> closest_type;
			typedef std::tuple<UInt, Real, element_type, closest_type, elem_list> test_type;

			std::map<UInt, test_type > map;
			std::set<UInt> checked;

			typename ContactData::elem_set snew, mnew;

			// loop over slave elements to determine slave nodes
			for (auto sit:c.ssurface_) {

			// get slave element
			auto sel = sit->second;
			auto sbb = sel.template boundingBox<dim>();

			// loop over master elements
			for (auto mit:c.msurface_) {

			auto mel = mit->second;

			// tighter check with AABBs
			auto mbb = mel.template boundingBox<dim>();
			if (!(sbb & mbb))
			continue;

			// loop over slave nodes
			for (UInt i=0; i<sel.numNodes(); ++i) {

			UInt s = sel.node(i);

			// treat first element as slave
			auto coord = sel.coordinates();

			// create point
			point_type p(coord[i]);

			if (!penetrates(p,mel)) {
			continue;
			} else {

			// find node in contact data structure
			auto fslave = c.slaves_.find(s);
			// if not found, add it to container and search for new contact elements
			if (fslave == c.slaves_.end()) {

			c.slaves_.insert(s);

			Neighbor_finder sc, mc;
			sc.tree_ = c.stree_;
			mc.tree_ = c.mtree_;
			sc.el_ = &sit->second;
			mc.el_ = &mit->second;
			c.stree_->collect_neighbors(sit->first, sc);
			c.mtree_->collect_neighbors(mit->first, mc);

			for (auto i:sc.elems_)
			snew.insert(i);
			for (auto i:mc.elems_)
			mnew.insert(i);
			}

			// compute closest point
			closest_type r = closest_point_to_element(p, mel);

			Real nd = (p-r.first).sq_norm();

			auto elit = map.find(s);
			if (elit == map.end()) {
			map[s] = test_type(i, nd, sel, r, elem_list());

			test_type &tuple = map[s];
			std::get<4>(tuple).insert(mel);
			}
			else {

			auto tuple = map[s];
			Real dist = std::get<1>(tuple);
			element_type sel = std::get<2>(tuple);

			if (std::abs(nd - dist) < 1.0e-6) {

			test_type &tuple = map[s];

			// edit closest point
			elem_list &els = std::get<4>(tuple);
			els.insert(mel);

			if (els.size() == 2) {

			closest_type &p = std::get<3>(tuple);

			p = commonPonit<point_type>(els);
			}


			} else if (nd < dist) {

			map[s] = test_type(i, nd, sel, r, elem_list());

			test_type &tuple = map[s];
			std::get<4>(tuple).insert(mel);

			}

			}

			}

			} // loop over master elements


			} // loop over slave nodes
			} // loop over slave elements to determine slave nodes

			// add new elements if found
			if (!snew.empty() \|\| !mnew.empty()) {
			for (auto s:snew)
			c.ssurface_.insert(s);
			for (auto m:mnew)
			c.msurface_.insert(m);
			}


			// loop over map to balance slave nodes with closest element
			for (auto it = map.begin(); it != map.end(); ++it) {

			UInt id = std::get<0>(it->second);
			element_type sel = std::get<2>(it->second);
			auto cp = std::get<3>(it->second);
			auto mel = std::get<4>(it->second);


			// process slave
			auto el = *mel.begin();
			balance<point_type>(Dt, id, cp, sel, const_cast<element_type&>(el));

			}
			} // loop over contact structures
			} // contact_ > 0

			// WORKING CODE FOR SINGLE PASS
			// if (contact_.size() > 0) {
			//
			// // loop over contact structures
			// for (auto c: contact_) {
			//
			// typedef std::tuple<UInt, Real, element_type, element_type> test_type;
			//
			// std::map<UInt, test_type > map;
			// std::set<UInt> checked;
			//
			// typename ContactData::elem_set snew, mnew;
			//
			// cout<<"------------------------------------------------------------------"<<endl;
			// cout<<"slaves -> "<<c.ssurface_.size()<<endl;
			// cout<<"masters -> "<<c.msurface_.size()<<endl;
			//
			// // loop over slave elements to determine slave nodes
			// for (auto sit:c.ssurface_) {
			//
			// // get slave element
			// auto sel = sit->second;
			// auto sbb = sel.template boundingBox<dim>();
			//
			// cout<<"sel -> "<<sel<<endl;
			//
			// // loop over master elements
			// for (auto mit:c.msurface_) {
			//
			// auto mel = mit->second;
			// cout<<"mel -> "<<mel<<endl;
			//
			// // tighter check with AABBs
			// auto mbb = mel.template boundingBox<dim>();
			// if (!(sbb & mbb)) {
			// cout<<"AABBS"<<endl;
			// continue;
			// }
			//
			// // loop over slave nodes
			// for (UInt i=0; i<sel.numNodes(); ++i) {
			//
			// UInt s = sel.node(i);
			//
			// cout<<"***NODE "<<s<<endl;
			// cout<<"***MBB -> "<<mbb<<endl;
			// cout<<"***MN -> "<<mel.normal()<<endl;
			//
			// // treat first element as slave
			// auto coord = sel.coordinates();
			//
			// // create point
			// point_type p(coord[i]);
			//
			// if (!penetrates(p,mel)) {
			// cout<<">SLAVE GETOUT"<<endl;
			// continue;
			// } else {
			//
			//
			// // find node in contact data structure
			// auto fslave = c.slaves_.find(s);
			// // if not found, add it to container and search for new contact elements
			// if (fslave == c.slaves_.end()) {
			// c.slaves_.insert(s);
			//
			// cout<<"type of sit -> "<<typeid(sit).name()<<endl;
			//
			// Neighbor_finder sc, mc;
			// sc.tree_ = c.stree_;
			// mc.tree_ = c.mtree_;
			// sc.el_ = &sit->second;
			// mc.el_ = &mit->second;
			// c.stree_->collect_neighbors(sit->first, sc);
			// c.mtree_->collect_neighbors(mit->first, mc);
			//
			// for (auto i:sc.elems_)
			// snew.insert(i);
			// for (auto i:mc.elems_)
			// mnew.insert(i);
			//
			// for (auto i:sc.elems_)
			// cout<<i->second;
			// for (auto i:mc.elems_)
			// cout<<i->second;
			// }
			//
			// cout<<">SLAVE "<<s<<": "<<p<<", with id "<<i<<", belonging to "<<sel<<" PENETRATES"<<endl;
			// cout<<"master element "<<mel<<", master bb -> "<<mbb<<endl;
			//
			// // compute closest point
			// std::pair<point_type, vector_type> r = closest_point_to_element(p, mel);
			//
			// cout<<"r -> "<<r.first<<endl;
			//
			// Real nd = (p-r.first).sq_norm();
			//
			// auto elit = map.find(s);
			// if (elit == map.end()) {
			// cout<<"NO ELEMENT IN MAP"<<endl;
			// map[s] = test_type(i, nd, sel, mel);
			// }
			// else {
			// cout<<"ELEMENT IN MAP"<<endl;
			// cout<<"stored info in map: ";
			//
			// auto tuple = map[s];
			// UInt id = std::get<0>(tuple);
			// Real dist = std::get<1>(tuple);
			// element_type sel = std::get<2>(tuple);
			// element_type mel = std::get<3>(tuple);
			//
			// cout<<"id "<<id<<", dist "<<dist<<"slave element "<<sel<<", master el "<<mel<<endl;
			//
			// cout<<"comparing new distance "<<nd<<" with stored value "<<dist<<endl;
			// if (nd < dist) {
			// cout<<"new distance smaller, inserting new element"<<endl;
			// map[s] = test_type(i, nd, sel, mel);
			// } else
			// cout<<"new distance is bigger!"<<endl;
			// }
			//
			// }
			//
			// } // loop over master elements
			//
			//
			// } // loop over slave nodes
			// } // loop over slave elements to determine slave nodes
			//
			// // add new elements if found
			// if (!snew.empty() \|\| !mnew.empty()) {
			// for (auto s:snew)
			// c.ssurface_.insert(s);
			// for (auto m:mnew)
			// c.msurface_.insert(m);
			// }
			//
			//
			// // loop over map to balance slave nodes with closest element
			// for (auto it = map.begin(); it != map.end(); ++it) {
			//
			// UInt id = std::get<0>(it->second);
			// element_type sel = std::get<2>(it->second);
			// element_type mel = std::get<3>(it->second);
			//
			// cout<<"balance node with id -> "<<id<<" in slave element "<<sel<<endl;
			// cout<<"master el -> "<<mel<<endl;
			//
			// // process slave
			// balance<point_type>(Dt, id, sel, mel);
			//
			// }
			// } // loop over contact structures
			// } // contact_ > 0
			}


			template <class contact_type, class bbox_type, class slave_container>
			void solve_contact(time_type Dt, contact_type& c1, contact_type& c2, const bbox_type& bb, slave_container& slaves) {

			// treat first element as slave
			auto coord = c1.coordinates();

			int slave = 0;
			for (const double* c:coord) {

			// create point
			point_type p(c);

			// if point lies outside of collision zone, continue
			if (!(bb & p)) {
			++slave;
			continue;
			}

			UInt id = c1.node(slave);
			auto it = slaves.find(id);
			if (it != slaves.end())
			continue;
			slaves.insert(id);

			// else find closest distance from p to contacting element c2
			std::pair<point_type, vector_type> r = closest_point_to_element(p, c2);
			const point_type& q = r.first;
			const vector_type& n = r.second;

			// get distance from current position
			Real delta = sqrt((q-p).sq_norm());

			auto mass = c1.getMass(slave)[0];

			// compute force at slave node
			vector_type N = 2 * delta * mass / pow(Dt,2.) * n;

			// compute forces in master element balancing linear and angular momenta
			balance(Dt, slave, r, N, c1, c2);

			++slave;
			}

			}


			private:



			template <class iterator>
			void traverse_right(iterator it1, iterator it2, hierarchy_timer& pq) {

			#ifdef DEBUG_MANAGER
			cout<<" traversing right hierarchy"<<endl;
			#endif

			iterator lit = it2.left();
			iterator rit = it2.right();
			assert(lit != null_);
			assert(rit != null_);

			time_type tstar1 = resolve_time(it1, lit);
			if (tstar1 != inf) {
			#ifdef DEBUG_MANAGER
			cout<<" Adding queue time "<<tstar1<<endl;
			#endif
			pq.push(std::make_tuple(tstar1, it1, lit));
			}
			time_type tstar2 = resolve_time(it1, rit);
			if (tstar2 != inf) {
			#ifdef DEBUG_MANAGER
			cout<<" Adding queue time "<<tstar2<<endl;
			#endif
			pq.push(std::make_tuple(tstar2, it1, rit));
			}
			}

			template <class iterator>
			void traverse_left(iterator it1, iterator it2, hierarchy_timer& pq) {

			#ifdef DEBUG_MANAGER
			cout<<" traversing left hierarchy"<<endl;
			#endif

			iterator lit = it1.left();
			iterator rit = it1.right();
			assert(lit != null_);
			assert(rit != null_);

			time_type tstar1 = resolve_time(lit, it2);
			if (tstar1 != inf) {
			#ifdef DEBUG_MANAGER
			cout<<" Adding queue time "<<tstar1<<endl;
			#endif
			pq.push(std::make_tuple(tstar1, lit, it2));
			}
			time_type tstar2 = resolve_time(rit, it2);
			if (tstar2 != inf) {
			#ifdef DEBUG_MANAGER
			cout<<" Adding queue time "<<tstar2<<endl;
			#endif
			pq.push(std::make_tuple(tstar2, rit, it2));
			}
			}


			template <class iterator>
			void check_collision(time_type t, iterator it1, iterator it2, hierarchy_timer& pq) {

			// if volumes are leaves, change the timer and time step
			if (it1.is_leaf() && it2.is_leaf()) {

			cout<<"* FOUND LEAVES *"<<endl;

			// case where objects intersect
			if (it1 & it2) {

			cout<<"* BOUNDING SPHERE INTERSECTION *"<<endl;

			// add leaves to carry out penetration tests
			leaves_data_iterator lit1(nullptr), lit2(nullptr);

			Neighbor_finder lc, rc;

			for (forest_iterator it = forest_.begin(); it != forest_.end(); ++it) {

			leaves_data_iterator lit = (*it)->find_data(it1);
			if (lit != (*it)->leaves_data_end()) {
			lit1 = lit;

			lc.tree_ = *it;
			lc.el_ = &lit->second;
			(*it)->collect_neighbors(lit->first, lc);
			}

			lit = (*it)->find_data(it2);
			if (lit != (*it)->leaves_data_end()) {
			lit2 = lit;

			rc.tree_ = *it;
			rc.el_ = &lit->second;
			(*it)->collect_neighbors(lit->first, rc);
			}
			}

			assert (lit1 != leaves_data_iterator(nullptr));
			assert (lit2 != leaves_data_iterator(nullptr));

			// check for new ContactData
			auto ins = contact_.insert(ContactData(lit1, lit2));

			if (ins.second) {
			auto cd = ins.first;
			cd->initialize(lc,rc);
			cout<<"* INFO * Adding contact data."<<endl;
			} else {
			cout<<"* WARNING * Contact data not inserted."<<endl;
			}

			// add to data structure for detailed check
			detailed_.insert(std::make_pair(lit1, lit2));

			detect_ = false;

			cout<<"***DETAILED SIZE -> "<<detailed_.size()<<endl;

			}
			else
			cout<<"* NO INTERSECTION BETWEEN BOUNDING SPHERES *"<<endl;


			time_type tstar = resolve_time(it1, it2);

			#ifdef DEBUG_MANAGER

			if (tstar == inf)
			cout<<" Leaves found that DO NOT collide"<<endl;
			else {
			cout<<" Leaves found that collide at time "<<(tstar)<<endl;
			}
			#endif

			if (tstar == inf) {
			cout<<" Leaves found that DO NOT collide"<<endl;
			}

			throw Continuator(std::make_tuple(tstar, it1, it2));
			}

			// found left leaf, traverse right hierarchy
			else if (it1.is_leaf() && !it2.is_leaf()) {

			#ifdef DEBUG_MANAGER
			cout<<" s1 is leaf"<<endl;
			#endif
			traverse_right(it1, it2, pq);
			}

			// found right leaf, traverse left hierarchy
			else if (!it1.is_leaf() && it2.is_leaf()) {

			#ifdef DEBUG_MANAGER
			cout<<" s2 is leaf"<<endl;
			#endif
			traverse_left(it1, it2, pq);
			}

			// else non-leaf case found, check volume sizes
			else {

			value_type m1 = it1->measure();
			value_type m2 = it2->measure();

			// volumes are equal to numerical error, traverse both hierarchies
			if (equal(m1, m2)) {

			#ifdef DEBUG_MANAGER
			cout<<" "<<m1<<" == "<<m2<<endl;
			#endif
			traverse_right(it1, it2, pq);
			traverse_left(it1, it2, pq);
			}
			// left volume is bigger, traverse right hierarchy
			else if (m1 > m2) {

			#ifdef DEBUG_MANAGER
			cout<<" "<<m1<<" > "<<m2<<endl;
			#endif
			traverse_left(it1, it2, pq);
			}
			// right volume is bigger, traverse left hierarchy
			else if (m1 < m2) {

			#ifdef DEBUG_MANAGER
			cout<<" "<<m1<<" < "<<m2<<endl;
			#endif
			traverse_right(it1, it2, pq);
			}
			} // non-leaf case

			}


			friend std::ostream& operator<<(std::ostream& os, const Contact0_model_manager& mm) {

			os<<"Contact model manager info:"<<endl;
			os<<" models: "<<mm.models_.size()<<endl;
			size_t i=0;
			const_forest_iterator tit = mm.forest_.begin();
			for (const_model_iterator it = mm.models_.begin(); it != mm.models_.end(); ++it) {
			os<<"\tmodel "<<++i<<" memory address: "<<*it<<endl;
			os<<"\tmodel: "<<**it<<endl;
			os<<"\ttree: ";
			print_mathematica(**tit++);
			}
			return os;
			}
			};

			__END_AKANTU__

			#endif /* __AKANTU_CONTACT_MANAGER_0_HH__ */

rAKA/src/model/contact_manager0.hh89088a68b210bugfix/69-segmentation…

contact_manager0.hhView Options

rAKA/src/model/contact_manager0.hh
89088a68b210bugfix/69-segmentation…

contact_manager0.hh
View Options