VertexTriangleMixedCcdDcd.h

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#ifndef PBAT_GPU_CONTACT_VERTEXTRIANGLEMIXEDCCDDCD_H
#define PBAT_GPU_CONTACT_VERTEXTRIANGLEMIXEDCCDDCD_H
 
#include "PhysicsBasedAnimationToolkitExport.h"
#include "pbat/gpu/Aliases.h"
#include "pbat/gpu/common/Buffer.h"
 
#include <vector>
 
namespace pbat::gpu::impl::contact {
class VertexTriangleMixedCcdDcd;
} // namespace pbat::gpu::impl::contact
 
namespace pbat::gpu::contact {

class VertexTriangleMixedCcdDcd
{
  public:
    static auto constexpr kDims = 3; 

    PBAT_API VertexTriangleMixedCcdDcd(
        Eigen::Ref<GpuIndexVectorX const> const& B,
        Eigen::Ref<GpuIndexVectorX const> const& V,
        Eigen::Ref<GpuIndexMatrixX const> const& F);
 
    VertexTriangleMixedCcdDcd(VertexTriangleMixedCcdDcd const&)            = delete;
    VertexTriangleMixedCcdDcd& operator=(VertexTriangleMixedCcdDcd const&) = delete;

    PBAT_API VertexTriangleMixedCcdDcd(VertexTriangleMixedCcdDcd&& other) noexcept;
    PBAT_API VertexTriangleMixedCcdDcd& operator=(VertexTriangleMixedCcdDcd&& other) noexcept;
    PBAT_API void InitializeActiveSet(
        common::Buffer const& xt,
        common::Buffer const& xtp1,
        Eigen::Vector<GpuScalar, kDims> const& wmin,
        Eigen::Vector<GpuScalar, kDims> const& wmax);
    PBAT_API void UpdateActiveSet(common::Buffer const& x, bool bComputeBoxes = true);
    PBAT_API void FinalizeActiveSet(common::Buffer const& x, bool bComputeBoxes = true);
    PBAT_API GpuIndexMatrixX ActiveVertexTriangleConstraints() const;
    PBAT_API GpuIndexVectorX ActiveVertices() const;
    PBAT_API std::vector<bool> ActiveMask() const;
    PBAT_API void SetNearestNeighbourFloatingPointTolerance(GpuScalar eps);
    ~VertexTriangleMixedCcdDcd();
 
  private:
    impl::contact::VertexTriangleMixedCcdDcd* mImpl; 
};
 
} // namespace pbat::gpu::contact
 
#endif // PBAT_GPU_CONTACT_VERTEXTRIANGLEMIXEDCCDDCD_H