Interaction.h

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//Copyright (c) 2013-2014, The MercuryDPM Developers Team. All rights reserved.
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#ifndef INTERACTION_H
#define INTERACTION_H

#include "FrictionForceInteractions/EmptyFrictionInteraction.h"
#include "AdhesiveForceInteractions/EmptyAdhesiveInteraction.h"
#include "InteractionHandler.h"
#include "BaseInteractable.h"

class BaseInteractable;
template<class NormalForceSpecies, class FrictionForceSpecies, class AdhesiveForceSpecies> class Species;

//this class combines normal and tangential force laws
template<class NormalForceInteraction, class FrictionForceInteraction=EmptyFrictionInteraction, class AdhesiveForceInteraction=EmptyAdhesiveInteraction>
class Interaction : public NormalForceInteraction, public FrictionForceInteraction, public AdhesiveForceInteraction
{
public:

    Interaction(BaseInteractable* P, BaseInteractable* I, Mdouble timeStamp);

    Interaction(const Interaction &p);

    virtual ~Interaction();

    Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>* copy() const final;

    void computeForce() final;

    void read(std::istream& is) final;

    void write(std::ostream& os) const final;

    std::string getName() const final;

    Mdouble getElasticEnergy() const final;

    void integrate(Mdouble timeStep) final;

    void reverseHistory() final;
    
    void rotateHistory(Matrix3D& rotationMatrix) final;
};

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::Interaction(BaseInteractable* P, BaseInteractable* I, Mdouble timeStamp)
: BaseInteraction(P, I, timeStamp), NormalForceInteraction(P, I, timeStamp), FrictionForceInteraction(P, I, timeStamp), AdhesiveForceInteraction(P, I, timeStamp)
{
#ifdef DEBUG_CONSTRUCTOR
    std::cout<<"Interaction::Interaction() finished"<<std::endl;
#endif
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::Interaction(const Interaction &p)
: BaseInteraction(p), NormalForceInteraction(p), FrictionForceInteraction(p), AdhesiveForceInteraction(p)
{
#ifdef DEBUG_CONSTRUCTOR
    std::cout<<"Interaction::Interaction(const Interaction &p finished"<<std::endl;
#endif
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::~Interaction()
{
#ifdef DEBUG_DESTRUCTOR
    std::cout<<"Interaction::~Interaction() finished"<<std::endl;
#endif
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>* Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::copy() const
{
    return new Interaction(*this);
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::write(std::ostream& os) const
{
    NormalForceInteraction::write(os);
    FrictionForceInteraction::write(os);
    AdhesiveForceInteraction::write(os);
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::read(std::istream& is)
{
    NormalForceInteraction::read(is);
    FrictionForceInteraction::read(is);
    AdhesiveForceInteraction::read(is);
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::reverseHistory()
{
    NormalForceInteraction::reverseHistory();
    FrictionForceInteraction::reverseHistory();
    AdhesiveForceInteraction::reverseHistory();
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::rotateHistory(Matrix3D& rotationMatrix)
{
    NormalForceInteraction::rotateHistory(rotationMatrix);
    FrictionForceInteraction::rotateHistory(rotationMatrix);
    AdhesiveForceInteraction::rotateHistory(rotationMatrix);
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
std::string Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::getName() const
{
    return NormalForceInteraction::getBaseName() + FrictionForceInteraction::getBaseName() + AdhesiveForceInteraction::getBaseName() + "Interaction";
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::integrate(Mdouble timeStep)
{
    FrictionForceInteraction::integrate(timeStep);
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
void Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::computeForce()
{
    NormalForceInteraction::computeNormalForce();
    FrictionForceInteraction::computeFrictionForce();
    AdhesiveForceInteraction::computeAdhesionForce();
}

template<class NormalForceInteraction, class FrictionForceInteraction, class AdhesiveForceInteraction>
Mdouble Interaction<NormalForceInteraction, FrictionForceInteraction, AdhesiveForceInteraction>::getElasticEnergy() const
{
    return NormalForceInteraction::getElasticEnergy() + FrictionForceInteraction::getElasticEnergy() + AdhesiveForceInteraction::getElasticEnergy();
}
#endif