BaseInteraction.h

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

#include "BaseObject.h"
#include "Math/Vector.h"
#include "Math/Matrix.h"

class InteractionHandler;
class BaseParticle;
class BaseSpecies;
class BaseInteractable;

class BaseInteraction : public BaseObject
{
public:
    BaseInteraction(BaseInteractable* P, BaseInteractable* I, Mdouble timeStamp);

    BaseInteraction(const BaseInteraction &p);

    virtual ~BaseInteraction();

    virtual void computeForce();

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

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

    void writeToFStat(std::ostream& os) const;

    virtual std::string getName() const;

    virtual Mdouble getElasticEnergy() const;

    void setDistance(Mdouble distance);

    void setNormal(Vec3D normal);

    void setOverlap(Mdouble overlap);

    void setContactPoint(Vec3D contactPoint);

    void setTimeStamp(Mdouble timeStamp);

    void setSpecies(BaseSpecies *species);

    void setP(BaseInteractable* P);

    void setI(BaseInteractable* I);

    void setHandler(InteractionHandler* handler);

    InteractionHandler* getHandler() const;

    const Vec3D& getForce() const;

    const Vec3D& getTorque() const;

    const Vec3D& getNormal() const;

    const Vec3D& getContactPoint() const;

    Mdouble getOverlap() const;

    void removeFromHandler();

    void copySwitchPointer(const BaseInteractable* original, BaseInteractable* ghost) const;

    void gatherContactStatistics();

    BaseInteractable* getP();

    /*
     * \brief Returns a pointer to the second object involved in the interaction (often a wall or a particle). 
     */
    BaseInteractable* getI();

    /*
     * \brief Returns a constant pointer to the first object involved in the interaction.
     */
    const BaseInteractable* getP() const;

    const BaseInteractable* getI() const;

    Mdouble getTimeStamp() const;

    virtual void integrate(Mdouble timeStep);

    virtual Mdouble getTangentialOverlap() const;

    Mdouble getDistance() const;

    const Vec3D& getRelativeVelocity() const;

    Mdouble getNormalRelativeVelocity() const;

    Mdouble getAbsoluteNormalForce() const;


    virtual BaseInteraction* copy() const = 0;

protected:

    virtual const Vec3D getTangentialForce() const;

    Mdouble getEffectiveRadius() const;

    Mdouble getEffectiveCorrectedRadius();

protected:

    //functions that only the derived Interactions have to know about:
    void addForce(Vec3D force);

    /*
     * \brief add a torque increment to the total torque.
     */
    void addTorque(Vec3D torque);

    //these functions are only used for normal forces and should be made private by the normal forces:

    void setForce(Vec3D force);

    void setTorque(Vec3D torque);

    void setRelativeVelocity(Vec3D relativeVelocity);

    void setNormalRelativeVelocity(Mdouble normalRelativeVelocit);

    void setAbsoluteNormalForce(Mdouble absoluteNormalForce);

    const BaseSpecies* getBaseSpecies() const;


    virtual void reverseHistory();

public: 
    
    virtual void rotateHistory(Matrix3D& rotationMatrix);

private:


    InteractionHandler* handler_;

    BaseInteractable* P_;

    BaseInteractable* I_;

    Vec3D contactPoint_;



    Vec3D relativeVelocity_;

    Mdouble normalRelativeVelocity_;

    Mdouble absoluteNormalForce_;

    Mdouble distance_;

    Vec3D force_;

    Vec3D torque_;

    Mdouble timeStamp_;

    Vec3D normal_;

    Mdouble overlap_;

    BaseSpecies* species_;
};
#endif