SuperQuadricParticle.h

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//Copyright (c) 2013-2023, The MercuryDPM Developers Team. All rights reserved.
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#ifndef SuperQuadricParticle_H
#define SuperQuadricParticle_H
 
#include "Math/SmallVector.h"
#include "BaseParticle.h"
#include "BaseInteractable.h"
#include "NonSphericalParticle.h"
#include "Species/ParticleSpecies.h"
 
typedef Vec3D BodyFixedCoordinates;
typedef Vec3D LabFixedCoordinates;
 
class SuperQuadricParticle final : public NonSphericalParticle
{
public:
    SuperQuadricParticle();
    
    SuperQuadricParticle(const SuperQuadricParticle& p);
    
    SuperQuadricParticle(const BaseParticle& p);
    
    ~SuperQuadricParticle() override;
    
    SuperQuadricParticle* copy() const override;
    
    void write(std::ostream& os) const override;
    
    void read(std::istream& is) override;
    
    std::string getName() const override;
    
    void setAxesAndExponents(const Mdouble& a1, const Mdouble& a2, const Mdouble& a3, const Mdouble& eps1,
                             const Mdouble& eps2);
    
    void setAxesAndExponents(const Vec3D& axes, const Mdouble& eps1, const Mdouble& eps2);
    
    void setAxes(const Mdouble& a1, const Mdouble& a2, const Mdouble& a3);
    
    void setAxes(const Vec3D& axes) override;
    
    void setExponents(const Mdouble& eps1, const Mdouble& eps2) override;
    
 
    Vec3D getAxes() const override;
    
    Mdouble getExponentEps1() const override;
    
    Mdouble getExponentEps2() const override;
    
    Mdouble getVolume() const override;
    
    void setInertia() override;
    
    void setRadius(const Mdouble radius) override;
    
    BaseInteraction* getInteractionWith(BaseParticle* P, unsigned timeStamp,
                                                     InteractionHandler* interactionHandler) override;
    
    Mdouble getCurvature(const LabFixedCoordinates& labFixedCoordinates) const override;
    
    bool isInContactWith(const BaseParticle* p) const override;
    
    SmallVector<3> computeShapeGradientLabFixed(const LabFixedCoordinates& labFixedCoordinates) const;
    
    
    BaseInteraction* getInteractionWithSuperQuad(SuperQuadricParticle* p, unsigned timeStamp,
                                                              InteractionHandler* interactionHandler);
    
    SmallMatrix<3, 3> computeHessianLabFixed(const LabFixedCoordinates& labFixedCoordinates) const;
    
    Mdouble computeShape(const LabFixedCoordinates& labFixedCoordinates) const;
    
    SmallVector<4> computeResidualContactDetection(const SmallVector<4>& position,
                                                   const SuperQuadricParticle* p1,
                                                   const SuperQuadricParticle* p2) const;
    
    SmallMatrix<4, 4> getJacobianOfContactDetectionObjective(const SmallVector<4>& contactPoint,
                                                             const SuperQuadricParticle* p1,
                                                             const SuperQuadricParticle* p2) const;
    
    SmallVector<4> getInitialGuessForContact(const SuperQuadricParticle* pQuad, BaseInteraction* C) const;
    
    Mdouble overlapFromContactPoint(const LabFixedCoordinates& contactPoint, const LabFixedCoordinates& normal) const;
    
    SmallVector<4> getContactPoint(const SuperQuadricParticle* p, BaseInteraction* C) const;
    
    SmallVector<4> getContactPointPlanB(const SuperQuadricParticle* pOther, unsigned numberOfSteps) const;
    
    bool computeContactPoint(SmallVector<4>& contactPoint, const SuperQuadricParticle* p1,
                             const SuperQuadricParticle* p2) const;
    
    
    void writeDebugMessageStep1(const SuperQuadricParticle* pQuad, const SmallVector<4>& contactPointPlanB) const;
    
    void writeDebugMessageStep2(const SuperQuadricParticle* pQuad, const Vec3D& dAxesThis, const Mdouble& dn11,
                                const Mdouble& dn12, const Vec3D& dAxesOther, const Mdouble& dn21,
                                const Mdouble& dn22) const;
    
    void writeDebugMessageStep3(const Vec3D& axesThis, const Mdouble& n11, const Mdouble& n12, const Vec3D& axesOther,
                                const Mdouble& n21, const Mdouble& n22) const;
    
    void
    writeDebugMessageMiddleOfLoop(const SuperQuadricParticle& p1, const SuperQuadricParticle& p2, SmallVector<4>& contactPointPlanB,
                                  const unsigned int& counter) const;
 
    Mdouble getInteractionRadius(const BaseParticle* particle) const;
 
    void computeMass(const ParticleSpecies& s) override;
 
private:
    
    void setBoundingRadius();
    
    Mdouble eps1_, eps2_;
    
    Vec3D axes_;
};
 
#endif