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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__ */
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