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/*************************************************************************
* 2021 jerome.duriez@inrae.fr *
* This program is free software, see file LICENSE for details. *
*************************************************************************/
#ifdef YADE_LS_DEM
#pragma once
#include <lib/base/Logging.hpp>
#include <lib/base/Math.hpp>
#include <core/Clump.hpp>
#include <pkg/levelSet/LevelSet.hpp>
#include <pkg/levelSet/LevelSetIGeom.hpp> // MultiScGeom
#include <pkg/levelSet/OtherClassesForLSContact.hpp> // MultiFrictPhys
namespace yade { // Cannot have #include directive inside.
class ShopLS {
public:
DECLARE_LOGGER;
//****** Helpful functions for RegularGrid creation *******
//NB: I could overload in C++ the two following functions but then I would not know how to expose them to Python. Here, with two different C++ names, and one Python name (and two .def in _utils.cpp), it works...
//See e.g. https://www.boost.org/doc/libs/1_66_0/libs/python/doc/html/tutorial/tutorial/functions.html#tutorial.functions.overloading https://stackoverflow.com/questions/26200998/how-to-wrap-functions-overloaded-by-type for some reading
static int nGPr(Real, Real, Real); // to have a good number of gridpoints
static Vector3i nGPv(const Vector3r&, const Vector3r&, const Real&); // "overloaded" (not in C++, will be in Python) version of the above
//****** Cartesian <-> spherical coordinates functions *******
static Vector3r cart2spher(const Vector3r&);
static Vector3r spher2cart(const Vector3r&);
//****** Functions for LS bodies creation *******
static shared_ptr<LevelSet> lsSimpleShape(
int,
const AlignedBox3r&,
const Real&,
const Real&,
const Vector2r&,
shared_ptr<
Clump>); // will be passed to Python in eg levelSetBody() and "returning shared_ptr<…> objects is the preferred way of passing objects from c++ to python" according to https://yade-dem.org/doc/prog.html#reference-counting
static Real
distApproxSE(const Vector3r& pt, const Vector3r& extents, const Vector2r& epsilons); // the approximated distance function to a superellipsoid
static vector<vector<vector<Real>>>
distIniClump(shared_ptr<Clump>, shared_ptr<RegularGrid>); // appropriate FastMarchingMethod.phiIni for the distance to a clump
static vector<vector<vector<Real>>>
distIniSE(const Vector3r&, const Vector2r&, shared_ptr<RegularGrid>); // appropriate FastMarchingMethod.phiIni for the distance to a se
static Real distToCircle(const Vector3r&, const Real&); // the distance to a circle's contour, in a (x,y) plane
static Real distToClumpSpheres(Vector3r, shared_ptr<Clump>); // minimum distance to all Clump members
static Real distToInterval(Real, Real, Real); // the distance to an interval in 1D space
static Real distToRecParallelepiped(Vector3r pt, Vector3r extents); // the distance to a box
static Real distToSph(const Vector3r&, const Real&, Vector3r center = Vector3r::Zero()); // the distance to a sphere surface
static bool insideClump(const Vector3r&, shared_ptr<Clump>); // could fit into core/Clump ?
static Real insideOutsideSE(const Vector3r& pt, const Vector3r& radii, const Vector2r& epsilons); // inside-outside function to a superellipsoid
static Real fioRose(Vector3r);
static Vector3r grad_fioRose(Vector3r);
static Real distApproxRose(Vector3r);
static vector<vector<vector<Real>>>
phiIni(int,
Vector3r,
Vector2r,
shared_ptr<Clump>,
shared_ptr<RegularGrid>); // for constructing FastMarchingMethod.phiIni in various cases, see implementation. Not intended to be Python-exposed
static vector<vector<vector<Real>>> phiIniCppPy(shared_ptr<RegularGrid>); // handy function for constructing a Py-related FastMarchingMethod.phiIni
//****** Miscellaneous functions ********
static Vector3r rigidMapping(const Vector3r&, const Vector3r&, const Vector3r&, const Quaternionr&); // a rigid body mapping
static Real biInterpolate(
std::array<Real, 2>,
std::array<Real, 2>,
std::array<Real, 2>,
std::array<std::array<Real, 2>, 2>); // bi-interpolation in a plane, used in LevelSet.distance()
static void handleNonTouchingNodeForMulti(shared_ptr<MultiScGeom>&, shared_ptr<MultiPhys>&, int);
static void handleTouchingNodeForMulti(
shared_ptr<MultiScGeom>&,
shared_ptr<MultiPhys>&,
int,
Vector3r ctctPt,
Real un,
Real rad1,
Real rad2,
const State& rbp1,
const State& rbp2,
const Scene* scene,
const shared_ptr<Interaction>& c,
const Vector3r& currentNormal,
const Vector3r& shift2);
};
} // namespace yade
#endif //YADE_LS_DEM
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