Environment.h

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#ifndef PBAT_SIM_CONTACT_ENVIRONMENT_H
#define PBAT_SIM_CONTACT_ENVIRONMENT_H
 
#include "MultibodyTetrahedralMeshSystem.h"
#include "pbat/Aliases.h"
#include "pbat/common/Concepts.h"
#include "pbat/geometry/sdf/Forest.h"
#include "pbat/io/Archive.h"
 
#include <Eigen/Core>
 
namespace pbat::sim::contact {

template <common::CFloatingPoint TScalar = Scalar>
class Environment
{
  public:
    using ScalarType = TScalar; 
    using SdfType    = pbat::geometry::sdf::Forest<ScalarType>;

    Environment() = default;
    Environment(SdfType sdf, Eigen::Index nPrimitives = 0);
    void SetSdf(SdfType sdf);
    void Reserve(Eigen::Index nPrimitives);
    template <common::CIndex TIndex = Index>
    void DetectContactCandidates(MultibodyTetrahedralMeshSystem<TIndex, ScalarType> const& meshes);
    Eigen::Index NumContactCandidates() const { return nCandidates; }
    bool IsContactCandidate(Eigen::Index i) const { return mIsCandidate[i]; }
    auto ContactCandidates() const { return mCandidates.head(nCandidates); }
    void Serialize(io::Archive& archive) const;
    void Deserialize(io::Archive const& archive);
 
    Eigen::Vector<bool, Eigen::Dynamic>
        mIsCandidate; 
    Eigen::Vector<Eigen::Index, Eigen::Dynamic>
        mCandidates;          
    Eigen::Index nCandidates; 
    Eigen::Vector<ScalarType, Eigen::Dynamic>
        mPhi; 
    Eigen::Matrix<ScalarType, 3, Eigen::Dynamic>
        mPoint; 
    Eigen::Matrix<ScalarType, 3 * 3, Eigen::Dynamic>
        mBasis; 
    pbat::geometry::sdf::Forest<ScalarType>
        mSdf; 
};
 
} // namespace pbat::sim::contact
 
#endif // PBAT_SIM_CONTACT_ENVIRONMENT_H