| //##################################################################### |
| // Copyright 2004, Ron Fedkiw, Andrew Selle, Joseph Teran. |
| // This file is part of PhysBAM whose distribution is governed by the license contained in the accompanying file PHYSBAM_COPYRIGHT.txt. |
| //##################################################################### |
| // Class COLLISION_BODY_3D |
| //##################################################################### |
| #ifndef __COLLISION_BODY_3D__ |
| #define __COLLISION_BODY_3D__ |
| |
| #include "../Arrays/ARRAY.h" |
| #include "../Arrays/ARRAYS_3D.h" |
| #include "../Matrices_And_Vectors/VECTOR_3D.h" |
| #include "../Geometry/TRIANGLE_3D.h" |
| namespace PhysBAM |
| { |
| |
| template<class T> class OCTREE_GRID; |
| template<class T> class LIST_ARRAY; |
| |
| template<class T> |
| class COLLISION_BODY_3D |
| { |
| public: |
| enum BODY_TYPE {ARBITRARY_BODY_TYPE, RIGID_BODY_TYPE, DEFORMABLE_BODY_TYPE, TETRAHEDRON_TYPE}; |
| enum STATE_INDEX {THIN_SHELLS_NEW_STATE = 1, THIN_SHELLS_OLD_STATE, SOLIDS_EVOLUTION_RIGID_BODY_NEW_STATE, SOLIDS_EVOLUTION_RIGID_BODY_OLD_STATE}; |
| BODY_TYPE body_type; |
| bool active; // when false, body is ignored |
| T collision_thickness; |
| |
| COLLISION_BODY_3D() |
| : body_type (ARBITRARY_BODY_TYPE), active (true) |
| {} |
| |
| virtual ~COLLISION_BODY_3D() |
| {} |
| |
| void Default() const |
| { |
| std::cout << "THIS COLLISION_BODY_3D FUNCTION IS NOT DEFINED!" << std::endl; |
| assert (false); |
| } |
| |
| void Set_Collision_Thickness (const T thickness = (T) 1e-3) |
| { |
| collision_thickness = thickness; |
| } |
| |
| //##################################################################### |
| virtual VECTOR_3D<T> Pointwise_Object_Velocity (const int triangle_id, const VECTOR_3D<T>& location) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual VECTOR_3D<T> Pointwise_Object_Pseudo_Velocity (const int triangle_id, const VECTOR_3D<T>& location, const int state1, const int state2) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual VECTOR_3D<T> Triangulated_Surface_World_Space_Point_From_Barycentric_Coordinates (const int triangle_id, const VECTOR_3D<T>& weights) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual TRIANGLE_3D<T> Triangulated_Surface_World_Space_Triangle (const int triangle_id, const bool use_saved_state = false) const |
| { |
| Default(); |
| return TRIANGLE_3D<T>(); |
| } |
| virtual bool Triangulated_Surface_Intersection (RAY_3D<T>& ray) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Triangulated_Surface_Closest_Non_Intersecting_Point (RAY_3D<T>& ray) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Triangulated_Surface_Inside_Any_Triangle (const VECTOR_3D<T>& location, int& triangle_id) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Earliest_Triangle_Crossover (const VECTOR_3D<T>& start_X, const VECTOR_3D<T>& end_X, const T dt, T& hit_time, VECTOR_3D<T>& normal, VECTOR_3D<T>& weights, |
| int& triangle_id) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Latest_Triangle_Crossover (const VECTOR_3D<T>& start_X, const VECTOR_3D<T>& end_X, const T dt, T& hit_time, VECTOR_3D<T>& normal, VECTOR_3D<T>& weights, int& triangle_id, |
| typename TRIANGLE_3D<T>::POINT_TRIANGLE_COLLISION_TYPE& returned_collision_type) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Any_Triangle_Crossover (const VECTOR_3D<T>& start_X, const VECTOR_3D<T>& end_X, const T dt) const |
| { |
| Default(); |
| return false; |
| } |
| virtual VECTOR_3D<T> Triangulated_Surface_Surface (const VECTOR_3D<T>& location, const T max_distance, int* triangle_id = 0, T* distance = 0) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual void Compute_Occupied_Cells (const GRID_3D<T>& grid, ARRAYS_3D<bool>& occupied, const bool with_body_motion, const T extra_thickness, const T body_thickness_factor, |
| const bool reset_occupied_to_false = true) const |
| { |
| Default(); |
| } |
| virtual void Compute_Occupied_Cells (const OCTREE_GRID<T>& grid, ARRAY<bool>& occupied, const bool with_body_motion, const T extra_thickness, const T body_thickness_factor, |
| const bool reset_occupied_to_false = true) const |
| { |
| Default(); |
| } |
| virtual void Get_Triangle_Bounding_Boxes (LIST_ARRAY<BOX_3D<T> >& bounding_boxes, const bool with_body_motion, const T extra_thickness, const T body_thickness_factor) const |
| { |
| Default(); |
| } |
| virtual VECTOR_3D<T> Implicit_Surface_Normal (const VECTOR_3D<T>& location, const int aggregate = -1) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual VECTOR_3D<T> Implicit_Surface_Normal (const VECTOR_3D<T>& location, T& phi_value, const int aggregate = -1, const int location_particle_index = 0) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual VECTOR_3D<T> Implicit_Surface_Extended_Normal (const VECTOR_3D<T>& location, T& phi_value, const int aggregate = -1, const int location_particle_index = 0) const |
| { |
| Default(); |
| return VECTOR_3D<T>(); |
| } |
| virtual bool Implicit_Surface_Lazy_Inside (const VECTOR_3D<T>& location, T contour_value = 0) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Implicit_Surface_Lazy_Inside_And_Value (const VECTOR_3D<T>& location, T& phi, T contour_value = 0) const |
| { |
| Default(); |
| return false; |
| } |
| virtual bool Implicit_Surface_Lazy_Outside_Extended_Levelset_And_Value (const VECTOR_3D<T>& location, T& phi_value, T contour_value = 0) const |
| { |
| Default(); |
| return false; |
| } |
| virtual void Adjust_Point_For_Collision (VECTOR_3D<T>& X, VECTOR_3D<T>& V, const T point_mass, const T penetration_depth, const T one_over_dt) |
| { |
| Default(); |
| } |
| virtual void Adjust_Point_For_Collision (VECTOR_3D<T>& X, const T penetration_depth) |
| { |
| Default(); |
| } |
| virtual void Save_State (const int state_index, const T time = 0) |
| { |
| Default(); |
| } |
| virtual void Restore_State (const int state_index) |
| { |
| Default(); |
| } |
| virtual void Delete_State (const int state_index) |
| { |
| Default(); |
| } |
| virtual void Update_Intersection_Acceleration_Structures (const bool use_swept_triangle_hierarchy, const int state1 = 0, const int state2 = 0) |
| { |
| Default(); |
| } |
| virtual T Thin_Shell_Density() const |
| { |
| Default(); |
| return (T) 0; |
| } |
| //##################################################################### |
| }; |
| } |
| #endif |
