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/**
* @file model_manager.hh
*
* @author Alejandro M. Aragón <alejandro.aragon@epfl.ch>
*
* @date creation: Mon Jan 07 2013
* @date last modification: Fri Sep 05 2014
*
* @brief higher order object that deals with collections of models
*
* @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_MODEL_MANAGER_HH__
#define __AKANTU_MODEL_MANAGER_HH__
#include "aka_common.hh"
#include "mesh.hh"
#include "model.hh"
#include "aka_tree.hh"
#include "solid_mechanics_model.hh"
#include "aka_plane.hh"
#include "aka_geometry.hh"
#include "solid_mechanics_model_element.hh"
#include "aka_timer.hh"
#include <cstring>
#include <queue>
#include <unordered_set>
#include <array/expr.hpp>
#define DEBUG_MANAGER 1
__BEGIN_AKANTU__
typedef array::vector_type<Real> vector_type;
typedef array::matrix_type<Real> matrix_type;
using array::transpose;
enum Discretization_type { Node_to_node, Node_to_segment };
template <class Model_policy>
class Model_manager {
public:
typedef Model_policy model_type;
typedef model_type* model_pointer;
typedef model_type& model_reference;
typedef std::list<model_type*> model_container;
typedef typename model_container::iterator model_iterator;
typedef typename model_container::const_iterator const_model_iterator;
protected:
model_container models_; //!< Models
public:
//! Default constructor
Model_manager() : models_() {}
virtual void add_model(model_reference m)
{ models_.push_back(&m); }
virtual void add_model(model_pointer m)
{ models_.push_back(m); }
model_iterator models_begin()
{ return models_.begin(); }
model_iterator models_end()
{ return models_.end(); }
friend std::ostream& operator<<(std::ostream& os, const Model_manager& mm) {
os<<"Model manager info:"<<endl;
os<<" models: "<<mm.models_.size()<<endl;
size_t i=0;
for (const_model_iterator it = mm.models_.begin(); it != mm.models_.end(); ++it) {
os<<"\tmodel "<<++i<<" memory address: "<<*it<<endl;
os<<"\tmodel "<<**it<<endl;
}
return os;
}
};
enum Kinematic_type { static_object_t, dynamic_object_t};
enum Consider_acceleration { Consider_t, Neglect_t };
template <Consider_acceleration>
class Kinematic_traits;
template<>
class Kinematic_traits<Consider_t> {
protected:
typedef Real time_type;
// check collision considering acceleration
// the equation to solve is
//
// alpha t^4 + beta t^3 + gamma t^2 + delta t + epsilon = 0
//
// where alpha = (a.a)/4, beta = (a.v), gamma = a.s + v.v, delta = 2(s.v),
// epsilon = s.s - r^2, a = a1-a2, v = v1-v2, s = c1-c2, r = r1-r2
//
template <class iterator>
time_type resolve_time(iterator it1, iterator it2) {
typedef typename iterator::value_type volume_type;
typedef typename volume_type::point_type point_type;
const point_type& v1 = it1->velocity_;
const point_type& v2 = it2->velocity_;
point_type a1 = it1->acceleration_;
point_type a2 = it2->acceleration_;
Real r = it1->radius() + it2->radius();
point_type s = it2->center() - it1->center();
point_type v = v2 - v1;
point_type a = a2 - a1;
// get coefficients
Real alpha = (a*a)/4;
Real beta = a*v;
Real gamma = a*s + v*v;
Real delta = 2*(s*v);
Real epsilon = s*s - r*r;
// obtain roots from quartic equation by calling the function such that
// the coefficient for the quartic term is equal to one
std::vector<Real> x(4, inf);
uint32_t roots = solve_quartic(beta/alpha, gamma/alpha, delta/alpha, epsilon/alpha,
&x[0], &x[1], &x[2], &x[3]);
Real tmin = inf;
// if there are roots, take the first one as an indication of the collision
if (roots > 0) {
for (size_t i=0; i<x.size(); ++i)
tmin = std::min(tmin, x[i]);
if (tmin > 0) {
#ifdef DEBUG_MANAGER
cout<<" Solve quartic with coefficients ";
cout<<(beta/alpha)<<", "<<(gamma/alpha)<<", "<<(delta/alpha)<<", "<<(epsilon/alpha)<<endl;
cout<<" Approximate collision time -> tmin = "<<tmin<<" = "<<(tmin)<<endl;
cout<<" Roots:";
for (size_t i=0; i<x.size(); ++i)
cout<<" "<<x[i];
cout<<endl;
#endif
for (size_t i=0; i<x.size(); ++i)
tmin = std::min(tmin, x[i]);
}
} // if roots
return tmin > 0 ? tmin : inf;
}
private:
/*! \brief Solve quartic equation x^4 + a*x^3 + b*x^2 + c*x + d = 0.
*
* Solves the quartic equation. Returns the number of roots
* found. Roots are filled in ascending order.
* Code taken from the Ion Beam Simulator, which is distrubuted under
* the terms of the GNU General Public License as published by the Free
* Software Foundation; either version 2 of the License, or (at your
* option) any later version.
*/
uint32_t solve_quartic(Real a, Real b, Real c, Real d,
Real *x0, Real *x1, Real *x2, Real *x3 );
};
template<>
class Kinematic_traits<Neglect_t> {
protected:
typedef Real time_type;
// check collision neglecting acceleration
template <class iterator>
time_type resolve_time(iterator it1, iterator it2) {
typedef typename iterator::value_type volume_type;
typedef typename volume_type::point_type point_type;
typedef typename point_type::value_type value_type;
const volume_type& s1 = *it1;
const volume_type& s2 = *it2;
const point_type& v1 = s1.velocity_;
const point_type& v2 = s2.velocity_;
// vector between spheress
point_type s = s2.center() - s1.center();
// relative motion of s1 with respect to stationary s0
point_type v = v2 - v1;
// sum of radii
value_type r = s1.radius() + s2.radius();
value_type c = s*s - r*r;
#ifdef DEBUG_MANAGER
cout<<"Checking collisiong between:"<<endl;
cout<<" "<<s1<<", velocity: "<<v1<<endl;
cout<<" "<<s2<<", velocity: "<<v2<<endl;
cout<<" Relative velocity: "<<v<<endl;
#endif
value_type epsilon = 1e-8;
// already intersecting
if (c < -epsilon) {
#ifdef DEBUG_MANAGER
cout<<" Intersecting bounding volumes"<<endl;
#endif
// should not get to this point
return time_type();
}
value_type a = v*v;
// if spheres not moving relative to each other
if (a < epsilon) {
#ifdef DEBUG_MANAGER
cout<<" Objects not moving relative to each other"<<endl;
cout<<" a: "<<a<<endl;
#endif
return inf;
}
value_type b = v*s;
// if spheres not moving towards each other
if (b >= 0.) {
#ifdef DEBUG_MANAGER
cout<<" Objects not moving towards each other"<<endl;
cout<<" b: "<<b<<endl;
#endif
return inf;
}
value_type d = b*b - a*c;
// if no real-valued root (d < 0), spheres do not intersect
// otherwise add time to timer
if (d >= 0.) {
time_type ts = (-b - sqrt(d))/a;
if (ts > -epsilon) {
#ifdef DEBUG_MANAGER
cout<<" Objects intersects at time "<<(ts)<<endl;
#endif
return ts;
}
#ifdef DEBUG_MANAGER
else {
cout<<" ts negative: "<<ts<<endl;
}
#endif
}
#ifdef DEBUG_MANAGER
else {
cout<<" Objects do not intersect"<<endl;
cout<<" discriminant: "<<d<<endl;
}
#endif
return inf;
}
};
template <class VolumeType, class DataPolicy, template <class> class CostPolicy = Cost_functor>
class DataTree :
public Tree<VolumeType, CostPolicy> {
public:
typedef DataPolicy data_type;
typedef VolumeType volume_type;
typedef CostPolicy<volume_type> cost_functor;
typedef Tree<volume_type, CostPolicy> tree_type;
typedef typename tree_type::iterator tree_iterator;
typedef typename tree_type::const_iterator const_tree_iterator;
// leaf information
typedef std::map<tree_iterator, data_type> leaves_data;
typedef typename leaves_data::iterator leaves_data_iterator;
bool add_data(tree_iterator it, data_type& data) {
auto i = data_.insert(std::make_pair(it, data));
return i.second;
}
leaves_data_iterator leaves_data_begin()
{ return data_.begin(); }
leaves_data_iterator leaves_data_end()
{ return data_.end(); }
leaves_data_iterator find_data(tree_iterator it)
{ return data_.find(it); }
private:
leaves_data data_;
};
template <class U, class T>
std::pair<U, T> minmax(const U& u, const T& t) {
return u < t ? std::make_pair(u,t) : std::make_pair(t,u);
}
template <Discretization_type, class, class>
class ContactElement;
template <class point_type, class element_type>
class ContactElement<Node_to_node, point_type, element_type> {
public:
typedef Real time_type;
typedef typename vector_type::value_type value_type;
typedef std::tuple<time_type, point_type> impact_tuple;
typedef typename element_type::model_type model_type;
struct Comparator {
bool operator()(const ContactElement *c1, const ContactElement *c2) const {
auto p1 = minmax(c1->el1_, c1->el2_);
auto p2 = minmax(c2->el1_, c2->el2_);
if (p1.first < p2.first || p1.second < p2.second)
return true;
auto i1 = minmax(c1->id1_, c1->id2_);
auto i2 = minmax(c2->id1_, c2->id2_);
if (i1.first < i2.first || i1.second < i2.second)
return true;
return false;
}
};
typedef Comparator comparator_type;
//! Parameter constructor
template <class parameter_type>
ContactElement(const parameter_type& p) :
id1_(std::get<0>(p)), id2_(std::get<1>(p)),
el1_(std::get<2>(p)), el2_(std::get<3>(p)),
impact_(std::get<4>(p)), m1_(), m2_(), linked_(), release_(true) {}
//! Resolve impact
/*! At the moment of impact, obtain velocities after impact from
* contacting nodes, and join masses (nodes behave as one)
*/
void resolve_impact(time_type t, time_type Dt) {
// if at moment of impact
if (equal(t, std::get<0>(impact_)) && !linked_) {
#ifdef DEBUG_MANAGER
cout<<"Linking nodes"<<endl;
#endif
// get models
model_type &model1 = el1_->model();
model_type &model2 = el2_->model();
// get global node ids
UInt n1 = el1_->node(id1_);
UInt n2 = el2_->node(id2_);
// get references to mass and velocity vectors
Array<Real> &mass1 = model1.getMass();
Array<Real> &mass2 = model2.getMass();
Array<Real> &velocity1 = model1.getVelocity();
Array<Real> &velocity2 = model2.getVelocity();
// get references to masses and velocities involved in the collision
Real &m1 = mass1(n1);
Real &m2 = mass2(n2);
value_type &v1 = velocity1(n1);
value_type &v2 = velocity2(n2);
// set correct velocity
Real vc = (m1*v1 + m2*v2) / (m1+m2);
velocity1(n1) = vc;
velocity2(n2) = vc;
// save mass values and add masses to treat them as a single node
m1_ = m1;
m2_ = m2;
mass1(n1) += m2_;
mass2(n2) += m1_;
// set link flag
linked_ = true;
}
}
//! Treat linked nodes
/*! During the time that the nodes are in contact, treat them as a single
* node of joint mass and synchronize residual values
*/
bool resolve(time_type t, time_type Dt) {
// get models
model_type &model1 = el1_->model();
model_type &model2 = el2_->model();
// get global node ids
UInt n1 = el1_->node(id1_);
UInt n2 = el2_->node(id2_);
// get references to residual vectors
Array<Real> & r1 = model1.getResidual();
Array<Real> & r2 = model2.getResidual();
// check condition for delinking of nodes
vector_type vec = el2_->barycenter() - el1_->barycenter();
if (std::signbit(vec[0]) != std::signbit(r1(n1))) {
#ifdef DEBUG_MANAGER
cout<<"Unlinking nodes"<<endl;
#endif
if (release_) {
// get masses
Array<Real> &mass1 = model1.getMass();
Array<Real> &mass2 = model2.getMass();
mass1(id1_) = m1_;
mass2(id2_) = m2_;
release_ = false;
return true;
}
}
// synchronize if necessary
if (linked_ && release_) {
Real tmp = r1(n1);
r1(n1) += r2(n2);
r2(n2) += tmp;
}
return false;
}
friend std::ostream& operator<<(std::ostream& os, const ContactElement& ce) {
cout<<"Contact element info:\n linking elements ("<<ce.el1_<<" - "<<ce.el2_<<")"<<endl;
cout<<" colliding nodes ("<<ce.id1_<<" - "<<ce.id2_<<")"<<endl;
cout<<" first impact at location "<<std::get<1>(ce.impact_)<<" at time "<<std::get<0>(ce.impact_)<<endl;
if (ce.m1_ > 0. && ce.m2_ > 0)
cout<<" saved masses: ("<<ce.m1_<<","<<ce.m2_<<")"<<endl;
if (ce.linked_)
cout<<" linked state (treating contacting nodes as a single node)"<<endl;
return os;
}
private:
size_t id1_, id2_; //!< Ids of element nodes involved in the collision
element_type *el1_, *el2_; //!< Pointers to elements involved in teh collision
impact_tuple impact_; //!< Impact information, tuple containing the time and point of contact
value_type m1_, m2_; //!< Mass values stored after linking of the nodes
bool linked_, release_; //!< Flags used to specify the state of the linking
};
template <class Bounding_policy, Discretization_type DT, Consider_acceleration accel = Consider_t, template <class> class Cost_policy = Cost_functor>
class Contact_model_manager : public Model_manager<SolidMechanicsModel>, public Kinematic_traits<accel> {
using Kinematic_traits<accel>::resolve_time;
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;
typedef ContactElement<DT, point_type, element_type> contact_element_type;
typedef std::set<contact_element_type*, typename contact_element_type::comparator_type > contact_element_container;
typedef typename contact_element_container::iterator contact_element_iterator;
typedef typename contact_element_type::time_type time_type;
typedef typename contact_element_type::impact_tuple impact_tuple;
// 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;
// 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."; }
};
struct Contactor : public std::exception {
impact_tuple data_;
Contactor(const impact_tuple& c) : data_(c) {}
virtual const char* what() const throw()
{ return "*** EXCEPTION *** Contact."; }
};
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
contact_element_container celems_; //!< Contact elements
public:
//! Default constructor
Contact_model_manager()
: Model_manager(), forest_(), timer_(), masks_(), null_(tree_iterator(nullptr)), last_() {}
//! Destructor
~Contact_model_manager() {
// delete trees
for (forest_iterator it = forest_.begin(); it != forest_.end(); ++it)
delete *it;
// delete contact element
for (contact_element_iterator it = celems_.begin(); it != celems_.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_));
}
void resolve(time_type t, time_type Dt) {
// loop over contact elements
contact_element_iterator elit = celems_.begin();
while (elit != celems_.end()) {
cout<<**elit<<endl;
if ((*elit)->resolve(t, Dt)) {
celems_.erase(elit++);
last_ = t + Dt;
} else
++elit;
}
}
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<<", 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;
// 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 (true) {
#ifdef DEBUG_MANAGER
cout<<"______________________________________________"<<endl;
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) {
tuple_type& best = e.best_;
time_type& best_time = std::get<0>(best);
Dt = best_time;
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);
try {
// set time step if required
cout<<"calling set_time_set in Continuator"<<endl;
set_time_step(t, Dt, Dt1);
} catch (Time_exception& e) {
cout<<"catching inner Time_exception"<<endl;
}
}
catch (Contactor& c) {
// get collision impact
Dt = std::get<0>(c.data_);
try {
cout<<"calling set_time_set in Contactor"<<endl;
// set time step if required
set_time_step(t, Dt, Dt1);
// last_ = t + Dt;
} catch (Time_exception& e) {
// if too small a time step, do nothing, next time step
// will carry out DCR
cout<<"catching outter Time_exception"<<endl;
// last_ = t + Dt;
Dt = Dt1;
}
cout<<"last -> "<<last_<<endl;
}
}
} // 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
// resolve collision if necessary
for (contact_element_iterator elit = celems_.begin(); elit != celems_.end(); ++elit)
(*elit)->resolve_impact(t, Dt);
}
private:
void set_time_step(time_type t, time_type& Dt, time_type Dt1) {
if (Dt > Dt1)
Dt = Dt1;
if (Dt < 1e-10) {
cout<<"*** INFO *** New time step is too small. Throwing exception..."<<endl;
throw Time_exception();
}
#ifdef DEBUG_MANAGER
cout<<" Leaves found that collide at time "<<(t + Dt)<<endl;
cout<<" Setting new time step: "<<Dt<<endl;
#endif
for (model_iterator mit = models_.begin(); mit != models_.end(); ++mit)
(*mit)->setTimeStep(Dt);
}
// check time of collision between points
impact_tuple check_points(time_type t, leaves_data_iterator it1, leaves_data_iterator it2) {
const volume_type& v1 = *it1->first;
const volume_type& v2 = *it2->first;
std::vector<const Real*> c1 = it1->second.coordinates();
std::vector<const Real*> c2 = it2->second.coordinates();
// compute intersection
volume_type vint = v1 && v2;
// get indices of colliding nodes
size_t ii=0, jj=0;
for (size_t i=1; i<c1.size(); ++i) {
if (vint & point_type(c1[i]))
ii = i;
if (vint & point_type(c2[i]))
jj = i;
}
impact_tuple impact =
moving_point_against_point(point_type(c1[ii]), point_type(c2[jj]), it1->first->velocity_, it2->first->velocity_);
time_type &timpact = std::get<0>(impact);
timpact += t;
celems_.insert(new contact_element_type(std::make_tuple(ii, jj, &it1->second, &it2->second, impact)));
return impact;
}
// check time of collision between 2D segments
impact_tuple check_2D_sides(time_type t, leaves_data_iterator it1, leaves_data_iterator it2) {
typedef Point<3> test_point;
const volume_type& v1 = *it1->first;
const volume_type& v2 = *it2->first;
std::vector<const Real*> c1 = it1->second.coordinates();
std::vector<const Real*> c2 = it2->second.coordinates();
// create plane from second container node
// THIS WON'T WORK, SIDES HAVE ONLY TWO NODES, CONTINUE DEVELOPING FROM HERE
assert(c2.size() == 3);
// form plane from three points
test_point o,p,q;
for (size_t j=0; j<point_type::dim(); ++j) {
o[j] = c2[0][j];
p[j] = c2[1][j];
q[j] = c2[2][j];
}
// point_type o(c2[0]);
// point_type p(c2[1]);
// point_type q(c2[2]);
Plane pi(o,p,q);
// loop over the nodes of the container
for (size_t i=0; i<c1.size(); ++i) {
test_point v;
point_type v2d = v1.velocity_ - v2.velocity_;
// create 3D point, used to check for plane intersection
test_point x;
for (size_t j=0; j<point_type::dim(); ++j) {
x[j] = c1[i][j];
v[j] = v2d[j];
}
cout<<"x -> "<<x<<endl;
cout<<"v -> "<<v<<endl;
std::tuple<time_type, test_point> impact =
moving_point_against_plane(x, v, pi);
}
exit(1);
//// impact_tuple impact =
//// moving_point_against_point(point_type(c1[ii]), point_type(c2[jj]), it1->first->velocity_, it2->first->velocity_);
////
//// time_type &timpact = std::get<0>(impact);
//// timpact += t;
////
//// celems_.insert(new contact_element_type(std::make_tuple(ii, jj, &it1->second, &it2->second, impact)));
////
// return impact;
}
// check time of collision between triangles
impact_tuple check_triangles(leaves_data_iterator it1, leaves_data_iterator it2) {
std::vector<const Real*> c1 = it1->second.coordinates();
std::vector<const Real*> c2 = it2->second.coordinates();
assert(c1.size() == 3);
assert(c1.size() == c2.size());
impact_tuple min = std::make_tuple(inf,point_type());
for (size_t i=0; i<c1.size(); ++i) {
point_type r(c1[i]);
// form plane from three points
point_type o(c2[0]);
point_type p(c2[1]);
point_type q(c2[2]);
Plane pi(o,p,q);
// relative velocity
point_type v = it1->first->velocity_ - it2->first->velocity_;
// intersect point r with velocity v with plane pi
// the function returns collision time and point of contact
impact_tuple impact = moving_point_against_plane(r, v, pi);
// make sure intersection point lies within the triangle
if (is_point_in_triangle(std::get<1>(impact), o, p, q))
if (std::get<0>(impact) < std::get<0>(min))
min = impact;
}
return min;
}
impact_tuple fine_collision_time(time_type t, leaves_data_iterator it1, leaves_data_iterator it2, Int2Type<1>) {
// check nodes of first segment against second segment
return check_points(t, it1, it2);
}
impact_tuple fine_collision_time(time_type t, leaves_data_iterator it1, leaves_data_iterator it2, Int2Type<2>) {
// check sides of the colliding elements
return check_2D_sides(t, it1, it2);
}
impact_tuple fine_collision_time(time_type t, leaves_data_iterator it1, leaves_data_iterator it2, Int2Type<3>) {
// check nodes of first triangle against second triangle
impact_tuple impact1 = check_triangles(it1, it2);
impact_tuple impact2 = check_triangles(it2, it1);
// check nodes of second triangle against first triangle
return std::get<0>(impact1) < std::get<0>(impact2) ? impact1 : impact2;
}
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);
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;
lit = (*it)->find_data(it2);
if (lit != (*it)->leaves_data_end())
lit2 = lit;
}
assert (lit1 != leaves_data_iterator(nullptr));
assert (lit2 != leaves_data_iterator(nullptr));
// determine collision time at the lowest level of detection
impact_tuple impact = fine_collision_time(t, lit1, lit2, Int2Type<volume_type::dim()>());
#ifdef DEBUG_MANAGER
cout<<" Fine intersection time: "<<std::get<0>(impact)<<endl;
#endif
throw Contactor(impact);
}
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;
cout<<" Modifying timer and time step..."<<endl;
}
#endif
if (tstar == inf) {
cout<<" Leaves found that DO NOT collide"<<endl;
return;
}
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 Contact_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_MODEL_MANAGER_HH__ */
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