Program Listing for File TimeStep.cpp

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#include "TimeStep.h"
#include "TimeManager.h"
#include "Simulation.h"


using namespace PBD;
using namespace std;
using namespace GenParam;

TimeStep::TimeStep()
{
}

TimeStep::~TimeStep(void)
{
}

void TimeStep::init()
{
    initParameters();
}

void TimeStep::initParameters()
{
    ParameterObject::initParameters();
}

void TimeStep::clearAccelerations(SimulationModel &model)
{
    // rigid body model

    SimulationModel::RigidBodyVector &rb = model.getRigidBodies();
    Simulation *sim = Simulation::getCurrent();
    const Vector3r grav(sim->getVecValue<Real>(Simulation::GRAVITATION));
    for (size_t i = 0; i < rb.size(); i++)
    {
        // Clear accelerations of dynamic particles
        if (rb[i]->getMass() != 0.0)
        {
            Vector3r &a = rb[i]->getAcceleration();
            a = grav;
        }
    }

    // particle model

    ParticleData &pd = model.getParticles();
    const unsigned int count = pd.size();
    for (unsigned int i = 0; i < count; i++)
    {
        // Clear accelerations of dynamic particles
        if (pd.getMass(i) != 0.0)
        {
            Vector3r &a = pd.getAcceleration(i);
            a = grav;
        }
    }
}

void TimeStep::reset()
{
}

void TimeStep::setCollisionDetection(SimulationModel &model, CollisionDetection *cd)
{
    m_collisionDetection = cd;
    m_collisionDetection->setContactCallback(contactCallbackFunction, &model);
    m_collisionDetection->setSolidContactCallback(solidContactCallbackFunction, &model);
}

CollisionDetection *TimeStep::getCollisionDetection()
{
    return m_collisionDetection;
}

void TimeStep::contactCallbackFunction(const unsigned int contactType, const unsigned int bodyIndex1, const unsigned int bodyIndex2,
    const Vector3r &cp1, const Vector3r &cp2,
    const Vector3r &normal, const Real dist,
    const Real restitutionCoeff, const Real frictionCoeff, void *userData)
{
    SimulationModel *model = (SimulationModel*)userData;
    if (contactType == CollisionDetection::RigidBodyContactType)
        model->addRigidBodyContactConstraint(bodyIndex1, bodyIndex2, cp1, cp2, normal, dist, restitutionCoeff, frictionCoeff);
    else if (contactType == CollisionDetection::ParticleRigidBodyContactType)
        model->addParticleRigidBodyContactConstraint(bodyIndex1, bodyIndex2, cp1, cp2, normal, dist, restitutionCoeff, frictionCoeff);
}

void TimeStep::solidContactCallbackFunction(const unsigned int contactType, const unsigned int bodyIndex1, const unsigned int bodyIndex2,
    const unsigned int tetIndex, const Vector3r &bary,
    const Vector3r &cp1, const Vector3r &cp2,
    const Vector3r &normal, const Real dist,
    const Real restitutionCoeff, const Real frictionCoeff, void *userData)
{
    SimulationModel *model = (SimulationModel*)userData;
    if (contactType == CollisionDetection::ParticleSolidContactType)
        model->addParticleSolidContactConstraint(bodyIndex1, bodyIndex2, tetIndex, bary, cp1, cp2, normal, dist, restitutionCoeff, frictionCoeff);
}