Program Listing for File contact_patch.h

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#ifndef COAL_CONTACT_PATCH_H
#define COAL_CONTACT_PATCH_H

#include "coal/data_types.h"
#include "coal/collision_data.h"
#include "coal/contact_patch/contact_patch_solver.h"
#include "coal/contact_patch_func_matrix.h"

namespace coal {

COAL_DLLAPI void computeContactPatch(const CollisionGeometry* o1,
                                     const Transform3s& tf1,
                                     const CollisionGeometry* o2,
                                     const Transform3s& tf2,
                                     const CollisionResult& collision_result,
                                     const ContactPatchRequest& request,
                                     ContactPatchResult& result);

// const CollisionGeometry*, const Transform3s&, const CollisionResult&, const
// ContactPatchRequest&, ContactPatchResult&);
COAL_DLLAPI void computeContactPatch(const CollisionObject* o1,
                                     const CollisionObject* o2,
                                     const CollisionResult& collision_result,
                                     const ContactPatchRequest& request,
                                     ContactPatchResult& result);

class COAL_DLLAPI ComputeContactPatch {
 public:
  ComputeContactPatch(const CollisionGeometry* o1, const CollisionGeometry* o2);

  void operator()(const Transform3s& tf1, const Transform3s& tf2,
                  const CollisionResult& collision_result,
                  const ContactPatchRequest& request,
                  ContactPatchResult& result) const;

  bool operator==(const ComputeContactPatch& other) const {
    return this->o1 == other.o1 && this->o2 == other.o2 &&
           this->csolver == other.csolver;
  }

  bool operator!=(const ComputeContactPatch& other) const {
    return !(*this == other);
  }

  virtual ~ComputeContactPatch() = default;

 protected:
  // These pointers are made mutable to let the derived classes to update
  // their values when updating the collision geometry (e.g. creating a new
  // one). This feature should be used carefully to avoid any mis usage (e.g,
  // changing the type of the collision geometry should be avoided).
  mutable const CollisionGeometry* o1;
  mutable const CollisionGeometry* o2;

  mutable ContactPatchSolver csolver;

  ContactPatchFunctionMatrix::ContactPatchFunc func;
  bool swap_geoms;

  virtual void run(const Transform3s& tf1, const Transform3s& tf2,
                   const CollisionResult& collision_result,
                   const ContactPatchRequest& request,
                   ContactPatchResult& result) const;

 public:
  EIGEN_MAKE_ALIGNED_OPERATOR_NEW
};

}  // namespace coal

#endif