Program Listing for File PenaltyContact.h

↰ Return to documentation for file (include/Karana/Collision/PenaltyContact.h)

/*
 * Copyright (c) 2024-2026 Karana Dynamics Pty Ltd. All rights reserved.
 *
 * NOTICE TO USER:
 *
 * This source code and/or documentation (the "Licensed Materials") is
 * the confidential and proprietary information of Karana Dynamics Inc.
 * Use of these Licensed Materials is governed by the terms and conditions
 * of a separate software license agreement between Karana Dynamics and the
 * Licensee ("License Agreement"). Unless expressly permitted under that
 * agreement, any reproduction, modification, distribution, or disclosure
 * of the Licensed Materials, in whole or in part, to any third party
 * without the prior written consent of Karana Dynamics is strictly prohibited.
 *
 * THE LICENSED MATERIALS ARE PROVIDED "AS IS" WITHOUT WARRANTY OF ANY KIND.
 * KARANA DYNAMICS DISCLAIMS ALL WARRANTIES, EXPRESS OR IMPLIED, INCLUDING
 * BUT NOT LIMITED TO WARRANTIES OF MERCHANTABILITY, NON-INFRINGEMENT, AND
 * FITNESS FOR A PARTICULAR PURPOSE.
 *
 * IN NO EVENT SHALL KARANA DYNAMICS BE LIABLE FOR ANY DAMAGES WHATSOEVER,
 * INCLUDING BUT NOT LIMITED TO LOSS OF PROFITS, DATA, OR USE, EVEN IF
 * ADVISED OF THE POSSIBILITY OF SUCH DAMAGES, WHETHER IN CONTRACT, TORT,
 * OR OTHERWISE ARISING OUT OF OR IN CONNECTION WITH THE LICENSED MATERIALS.
 *
 * U.S. Government End Users: The Licensed Materials are a "commercial item"
 * as defined at 48 C.F.R. 2.101, and are provided to the U.S. Government
 * only as a commercial end item under the terms of this license.
 *
 * Any use of the Licensed Materials in individual or commercial software must
 * include, in the user documentation and internal source code comments,
 * this Notice, Disclaimer, and U.S. Government Use Provision.
 */

/**
 * @file
 * @brief Contains the declarations for the PenaltyContact KModel.
 */

#pragma once
#include "Karana/Collision/ContactForce.h"
#include "Karana/Collision/FrameCollider.h"
#include "Karana/SOADyn/KModel.h"
#include <boost/functional/hash.hpp>

namespace Karana::Models {

    /**
     * @class PenaltyContact
     * @brief Model applying penalty contact forces to collisions from the provided FrameColliders.
     *
     * This model takes the provided FrameCollider(s) and passes their colliding pairs to the
     * provided ContactForceBase to calculate and apply contact forces.
     *
     * See \sref{collision_dynamics_sec} for more discussion on
     * contact and collision dynamics.
     */
    class PenaltyContact : public KModel<PenaltyContact /*, PenaltyContactParams*/> {

      public:
        /**
         * @brief PenaltyContact constructor. The constructor is not meant to be called directly.
         *        Please use the create(...) method instead to create an instance.
         *
         * @param name - The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param st - The SubTree that this model is operating on.
         * @param colliders - Helpers to generate body contacts.
         * @param contact_force_model - The model used for computing contact forces.
         */
        PenaltyContact(std::string_view name,
                       const kc::ks_ptr<Karana::Dynamics::ModelManager> &mm,
                       const kc::ks_ptr<Karana::Dynamics::SubTree> &st,
                       const std::vector<Karana::Collision::FrameCollider> &colliders,
                       const kc::ks_ptr<Karana::Collision::ContactForceBase> &contact_force_model);

        /**
         * @brief Destructor for PenaltyContact.
         */
        ~PenaltyContact();

        /**
         * @brief Create a PenaltyContact model.
         *
         * @param name - The name of the model.
         * @param mm The ModelManager to register this model with.
         * @param st - The SubTree that this model is operating on.
         * @param colliders - Helpers to generate body contacts.
         * @param contact_force_model - The model used for computing contact forces.
         * @return The created PenaltyContact model.
         */
        static kc::ks_ptr<PenaltyContact>
        create(std::string_view name,
               const kc::ks_ptr<Karana::Dynamics::ModelManager> &mm,
               const kc::ks_ptr<Karana::Dynamics::SubTree> &st,
               const std::vector<Karana::Collision::FrameCollider> &colliders,
               const kc::ks_ptr<Karana::Collision::ContactForceBase> &contact_force_model);

        /**
         * @brief Apply penalty contact forces.
         *
         * @param t - Current time. Not used.
         * @param x - Current state. Not used.
         */
        void preDeriv(const Karana::Math::Ktime &t, const Karana::Math::Vec &x);

        /// CollisionModelFn selects a collision model given a FrameContact.
        using CollisionModelFn = std::function<const kc::ks_ptr<Collision::ContactForceBase> &(
            const Collision::FrameContact &)>;

        std::string dumpString(std::string_view prefix,
                               const Karana::Core::Base::DumpOptions *options) const override;

        /**
         * @brief Return the registered contact force model.
         *
         * @return The contact force model.
         */
        const kc::ks_ptr<Collision::ContactForceBase> &getContactForceModel() const;

        /**
         * @brief Return the frame colliders.
         *
         * @returns The frame colliders.
         */
        const std::vector<Collision::FrameCollider> &getFrameColliders() const;

      private:
        /// The SubTree we are doing dynamics on.
        kc::ks_ptr<Karana::Dynamics::SubTree> _st;

        /// Helper to generate body contacts
        std::vector<Karana::Collision::FrameCollider> _colliders;

        /// The contact force model used to calculate contact forces for each collision pair on each
        /// collider.
        kc::ks_ptr<Collision::ContactForceBase> _contact_force_model;
    };
} // namespace Karana::Models