compute_contact.cc
c7bdbe065ba8master

compute_contact.cc
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			#include "compute_contact.hh"
			#include "ping_pong_ball.hh"
			#include <cmath>
			/* -------------------------------------------------------------------------- */
			void ComputeContact::setPenalty(Real penalty) {
			this->penalty = penalty;
			}
			/* -------------------------------------------------------------------------- */
			void ComputeContact::compute(System& system) {
			auto penalty_contact = [this](Particle& par1, Particle& par2) {
			auto& ppb1 = static_cast<PingPongBall&>(par1);
			auto& ppb2 = static_cast<PingPongBall&>(par2);

			auto v_r = ppb2.getPosition() - ppb1.getPosition();
			auto r = std::sqrt(v_r.squaredNorm());
			v_r /= r;

			auto penetration = ppb1.getRadius() + ppb2.getRadius() - r;

			Vector force;

			if (penetration > 0) {
			force = v_r;
			force = penalty penetration;

			ppb1.getForce() -= force;
			ppb2.getForce() += force;
			}
			};

			applyOnPairs(penalty_contact, system);
			}