From c45f3a3efebad801b9a7e9bab513814d71e42b93 Mon Sep 17 00:00:00 2001
From: Sebastian Eibl <sebastian.eibl@fau.de>
Date: Tue, 12 Jun 2018 13:55:51 +0200
Subject: [PATCH] [API] rebased Union on BodyStorage
---
src/pe/communication/rigidbody/Union.h | 12 +-
src/pe/fcd/AnalyticCollisionDetection.h | 4 +-
src/pe/fcd/GJKEPACollideFunctor.h | 6 +-
src/pe/rigidbody/Union.h | 226 +++++++++---------------
src/pe/rigidbody/UnionFactory.h | 20 +--
tests/pe/Collision.cpp | 8 +-
tests/pe/CollisionTobiasGJK.cpp | 32 ++--
tests/pe/Marshalling.cpp | 4 +-
tests/pe/ShadowCopy.cpp | 16 +-
tests/pe/Union.cpp | 21 ++-
10 files changed, 143 insertions(+), 206 deletions(-)
diff --git a/src/pe/communication/rigidbody/Union.h b/src/pe/communication/rigidbody/Union.h
index 69c2d6bb1..596f54118 100644
--- a/src/pe/communication/rigidbody/Union.h
+++ b/src/pe/communication/rigidbody/Union.h
@@ -72,12 +72,12 @@ void marshal( mpi::SendBuffer& buffer, const Union<BodyTypeTuple>& obj )
buffer << static_cast<size_t> (obj.size()); // Encoding the number of contained bodies
// Encoding the contained primitives
- const typename Union<BodyTypeTuple>::ConstIterator begin( obj.begin() );
- const typename Union<BodyTypeTuple>::ConstIterator end ( obj.end() );
- for( typename Union<BodyTypeTuple>::ConstIterator body=begin; body!=end; ++body )
+ const typename Union<BodyTypeTuple>::const_iterator begin( obj.begin() );
+ const typename Union<BodyTypeTuple>::const_iterator end ( obj.end() );
+ for( typename Union<BodyTypeTuple>::const_iterator body=begin; body!=end; ++body )
{
buffer << body->getTypeID();
- MarshalDynamically<BodyTypeTuple>::execute( buffer, **body );
+ MarshalDynamically<BodyTypeTuple>::execute( buffer, *body );
}
}
@@ -132,9 +132,9 @@ inline Union<BodyTypeTuple>* instantiate( mpi::RecvBuffer& buffer, const math::A
{
decltype ( static_cast<BodyID>(nullptr)->getTypeID() ) type;
buffer >> type;
- BodyID obj = UnmarshalDynamically<BodyTypeTuple>::execute(buffer, type, domain, block);
+ BodyPtr obj( UnmarshalDynamically<BodyTypeTuple>::execute(buffer, type, domain, block) );
obj->setRemote( true );
- newBody->add(obj);
+ newBody->add(std::move(obj));
}
return newBody;
diff --git a/src/pe/fcd/AnalyticCollisionDetection.h b/src/pe/fcd/AnalyticCollisionDetection.h
index 8b6fa2853..5318eaae9 100644
--- a/src/pe/fcd/AnalyticCollisionDetection.h
+++ b/src/pe/fcd/AnalyticCollisionDetection.h
@@ -2124,7 +2124,7 @@ bool collide( Union<BodyTypeTuple>* bd1, BodyB* bd2, Container& container )
bool collision = false;
for( auto it=bd1->begin(); it!=bd1->end(); ++it )
{
- collision |= SingleCast<BodyTypeTuple, AnalyticSingleCollideFunctor<BodyB, Container>, bool>::execute(*it, func);
+ collision |= SingleCast<BodyTypeTuple, AnalyticSingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
}
return collision;
}
@@ -2146,7 +2146,7 @@ bool collide( Union<BodyTypeTupleA>* bd1, Union<BodyTypeTupleB>* bd2, Container&
{
for( auto it2=bd2->begin(); it2!=bd2->end(); ++it2 )
{
- collision |= DoubleCast<BodyTypeTupleA, BodyTypeTupleB, AnalyticCollideFunctor<Container>, bool>::execute(*it1, *it2, func);
+ collision |= DoubleCast<BodyTypeTupleA, BodyTypeTupleB, AnalyticCollideFunctor<Container>, bool>::execute(it1.getBodyID(), it2.getBodyID(), func);
}
}
return collision;
diff --git a/src/pe/fcd/GJKEPACollideFunctor.h b/src/pe/fcd/GJKEPACollideFunctor.h
index 35a72fcac..051d5bcbc 100644
--- a/src/pe/fcd/GJKEPACollideFunctor.h
+++ b/src/pe/fcd/GJKEPACollideFunctor.h
@@ -169,7 +169,7 @@ namespace gjkepa{
bool collision = false;
for( auto it=a->begin(); it!=a->end(); ++it )
{
- collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<BodyB, Container>, bool>::execute(*it, func);
+ collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
}
return collision;
}
@@ -187,7 +187,7 @@ namespace gjkepa{
{
for( auto it2=b->begin(); it2!=b->end(); ++it2 )
{
- collision |= DoubleCast<BodyTupleA, BodyTupleB, GJKEPACollideFunctor<Container>, bool>::execute(*it1, *it2, func);
+ collision |= DoubleCast<BodyTupleA, BodyTupleB, GJKEPACollideFunctor<Container>, bool>::execute(it1.getBodyID(), it2.getBodyID(), func);
}
}
return collision;
@@ -200,7 +200,7 @@ namespace gjkepa{
bool collision = false;
for( auto it=a->begin(); it!=a->end(); ++it )
{
- collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<Plane, Container>, bool>::execute(*it, func);
+ collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<Plane, Container>, bool>::execute(it.getBodyID(), func);
}
return collision;
}
diff --git a/src/pe/rigidbody/Union.h b/src/pe/rigidbody/Union.h
index 81c8128f6..fe6e0ce94 100644
--- a/src/pe/rigidbody/Union.h
+++ b/src/pe/rigidbody/Union.h
@@ -27,7 +27,10 @@
//*************************************************************************************************
#include <pe/Config.h>
+#include <pe/rigidbody/BodyStorage.h>
#include <pe/rigidbody/RigidBody.h>
+#include <pe/rigidbody/RigidBodyCastIterator.h>
+#include <pe/rigidbody/RigidBodyIterator.h>
#include <pe/Types.h>
#include <core/debug/Debug.h>
@@ -65,23 +68,24 @@ class Union : public RigidBody
{
public:
//**Type definitions****************************************************************************
- typedef BodyTypeTuple BodyTypeTupleT;
+ using BodyTypeTupleT = BodyTypeTuple;
- typedef PtrVector<RigidBody, PtrDelete> Bodies; //!< Iterator over the contained rigid bodies.
- typedef Bodies::Iterator Iterator; //!< Iterator over the contained rigid bodies.
- typedef Bodies::ConstIterator ConstIterator; //!< Constant iterator over the contained rigid bodies.
- //**++++++++++++++++****************************************************************************
+ //**********************************************************************************************
- //**Forward declarations for nested classes*****************************************************
-// template< typename C > class CastIterator;
-// template< typename C > class ConstCastIterator;
+ using size_type = BodyStorage::size_type; //!< Size type of the body storage.
+ using iterator = BodyStorage::iterator; //!< Iterator over non-const bodies.
+ using const_iterator = BodyStorage::const_iterator; //!< Iterator over constant bodies.
+ template <typename C> //cast type
+ using cast_iterator = BodyStorage::cast_iterator<C>;
+ template <typename C> //cast type
+ using const_cast_iterator = BodyStorage::const_cast_iterator<C>;
//**********************************************************************************************
//**Constructors********************************************************************************
/*!\name Constructors */
//@{
explicit Union( id_t sid, id_t uid, const Vec3& gpos, const Vec3& rpos, const Quat& q,
- const bool global, const bool communicating, const bool infiniteMass );
+ const bool global, const bool communicating, const bool infiniteMass );
//@}
//**********************************************************************************************
@@ -95,28 +99,35 @@ public:
public:
//**Get functions*******************************************************************************
- /*!\name Get functions */
+ /*!\name BodyStorage functions */
//@{
- inline bool isEmpty() const;
- inline size_t size() const;
- template< typename C > inline size_t size() const {return bodies_.size<C>();}
- inline BodyID getBody( size_t index );
- inline ConstBodyID getBody( size_t index ) const;
-
- inline Iterator begin() {return bodies_.begin();}
- inline ConstIterator begin() const {return bodies_.begin();}
- template< typename C > inline Bodies::CastIterator<C> begin() {return bodies_.begin<C>();}
- template< typename C > inline Bodies::ConstCastIterator<C> begin() const {return bodies_.begin<C>();}
-
- inline Iterator end() {return bodies_.end();}
- inline ConstIterator end() const {return bodies_.end();}
- template< typename C > inline Bodies::CastIterator<C> end() {return bodies_.end<C>();}
- template< typename C > inline Bodies::ConstCastIterator<C> end() const {return bodies_.end<C>();}
-
- virtual inline real_t getVolume() const;
+ inline bool isEmpty() const {return bodies_.isEmpty();}
+ inline size_t size() const {return bodies_.size();}
+
+ inline iterator begin () {return bodies_.begin();}
+ inline const_iterator begin () const {return bodies_.begin();}
+ inline const_iterator cbegin () const {return bodies_.cbegin();}
+ inline iterator end () {return bodies_.end();}
+ inline const_iterator end () const {return bodies_.end();}
+ inline const_iterator cend () const {return bodies_.cend();}
+
+ template< typename C >
+ inline cast_iterator<C> begin() {return bodies_.begin<C>();}
+ template< typename C >
+ inline const_cast_iterator<C> begin() const {return bodies_.begin<C>();}
+ template< typename C >
+ inline const_cast_iterator<C> cbegin() const {return bodies_.cbegin<C>();}
+ template< typename C >
+ inline cast_iterator<C> end() {return bodies_.end<C>();}
+ template< typename C >
+ inline const_cast_iterator<C> end() const {return bodies_.end<C>();}
+ template< typename C >
+ inline const_cast_iterator<C> cend() const {return bodies_.cend<C>();}
//@}
//**********************************************************************************************
+ virtual inline real_t getVolume() const;
+
//**Set functions*******************************************************************************
/*!\name Set functions */
//@{
@@ -146,7 +157,7 @@ public:
//**Rigid body manager functions****************************************************************
/*!\name Rigid body manager functions */
//@{
- void add ( BodyID body );
+ inline RigidBody& add( std::unique_ptr<RigidBody>&& body );
//@}
//**********************************************************************************************
@@ -183,18 +194,13 @@ protected:
/*!\name Utility functions */
//@{
inline virtual void calcBoundingBox() WALBERLA_OVERRIDE; // Calculation of the axis-aligned bounding box
- void calcCenterOfMass(); ///< updates the center of mass (gpos)
+ void calcCenterOfMass(); ///< updates the center of mass (gpos)
inline void calcInertia(); // Calculation of the moment of inertia
//@}
//**********************************************************************************************
- //**Member variables****************************************************************************
- /*!\name Member variables */
- //@{
- PtrVector<RigidBody, PtrDelete> bodies_; //!< Rigid bodies contained in the union.
- //@}
- //**********************************************************************************************
private:
+ BodyStorage bodies_; //!< Rigid bodies contained in the union.
std::vector<id_t> containedTypeIDs_;
static id_t staticTypeID_; //< type id of sphere, will be set by SetBodyTypeIDs
@@ -228,7 +234,7 @@ private:
*/
template <typename BodyTypeTuple>
Union<BodyTypeTuple>::Union( id_t sid, id_t uid, const Vec3& gpos, const Vec3& rpos, const Quat& q,
- const bool global, const bool communicating, const bool /*infiniteMass*/ )
+ const bool global, const bool communicating, const bool /*infiniteMass*/ )
: RigidBody( getStaticTypeID(), sid, uid ) // Initialization of the parent class
{
// Initializing the instantiated union
@@ -241,7 +247,7 @@ Union<BodyTypeTuple>::Union( id_t sid, id_t uid, const Vec3& gpos, const Vec3& r
calcInertia();
setGlobal( global );
-// setMass( infiniteMass );
+ // setMass( infiniteMass );
setCommunicating( communicating );
setFinite( true );
}
@@ -322,7 +328,7 @@ void Union<BodyTypeTuple>::calcBoundingBox()
// Setting the bounding box of an empty union
if( bodies_.isEmpty() ) {
aabb_ = math::AABB(
- gpos_[0] - real_t(0.01),
+ gpos_[0] - real_t(0.01),
gpos_[1] - real_t(0.01),
gpos_[2] - real_t(0.01),
gpos_[0] + real_t(0.01),
@@ -334,7 +340,7 @@ void Union<BodyTypeTuple>::calcBoundingBox()
// Using the bounding box of the first contained bodies as initial bounding box
// and merging it with the bounding boxes of all other bodies
else {
- aabb_ = bodies_[0]->getAABB();
+ aabb_ = bodies_.begin()->getAABB();
for( auto b=bodies_.begin()+1; b!=bodies_.end(); ++b )
aabb_.merge( b->getAABB() );
}
@@ -366,7 +372,7 @@ void Union<BodyTypeTuple>::calcCenterOfMass()
// Calculating the center of mass of a single body
if( bodies_.size() == 1 )
{
- const BodyID body( bodies_[0] );
+ const BodyID body( bodies_.begin().getBodyID() );
gpos_ = body->getPosition();
mass_ = body->getMass();
if( !isFixed() && mass_ > real_t(0) )
@@ -512,8 +518,8 @@ void Union<BodyTypeTuple>::setPositionImpl( real_t px, real_t py, real_t pz )
gpos_ = gpos;
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dp );
+ for( auto& b : bodies_ )
+ b.update( dp );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -548,8 +554,8 @@ void Union<BodyTypeTuple>::setOrientationImpl( real_t r, real_t i, real_t j, rea
R_ = q_.toRotationMatrix();
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dq );
+ for( auto& b : bodies_ )
+ b.update( dq );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -586,8 +592,8 @@ void Union<BodyTypeTuple>::update( const Vec3& dp )
gpos_ += dp;
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dp );
+ for( auto& b : bodies_ )
+ b.update( dp );
// Setting the axis-aligned bounding box
Union<BodyTypeTuple>::calcBoundingBox();
@@ -623,8 +629,8 @@ void Union<BodyTypeTuple>::update( const Quat& dq )
R_ = q_.toRotationMatrix();
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dq );
+ for( auto& b : bodies_ )
+ b.update( dq );
// Setting the axis-aligned bounding box
Union<BodyTypeTuple>::calcBoundingBox();
@@ -694,38 +700,38 @@ void Union<BodyTypeTuple>::update( const Quat& dq )
* union (to make the entire union (in-)visible.
*/
template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::add( BodyID body )
+RigidBody& Union<BodyTypeTuple>::add( std::unique_ptr<RigidBody>&& body )
{
// Checking for "self-assignment"
- if( body == BodyID( this ) ) return;
+ if( body.get() == BodyID( this ) ) return *this;
// Checking the global flags of the body and the union in MPI parallel simulations
if( body->isGlobal() ^ global_ )
throw std::logic_error( "Global flags of body and union do not match" );
+ // Registering the rigid body
+ auto& bd = bodies_.add( std::move(body) );
+
Vec3 oldCenterOfMass = getPosition();
Vec3 oldImpulse = getLinearVel() * getMass();
- Vec3 bodyCenterOfMass = body->getPosition();
- Vec3 bodyImpulse = body->getLinearVel() * body->getMass();
+ Vec3 bodyCenterOfMass = bd.getPosition();
+ Vec3 bodyImpulse = bd.getLinearVel() * bd.getMass();
-
- // Registering the rigid body
- body->setSB(this);
- bodies_.pushBack( body );
+ bd.setSB(this); //having a superbody will forward all getVel calls to superbody!!!
// Updating the axis-aligned bounding box
if( bodies_.size() == 1 )
- aabb_ = body->getAABB();
+ aabb_ = bd.getAABB();
else
- aabb_.merge( body->getAABB() );
+ aabb_.merge( bd.getAABB() );
// Setting the union's total mass and center of mass
calcCenterOfMass();
// Setting the contained primitives' relative position in reference to the center of mass
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- ( *b )->calcRelPosition();
+ for( auto& b : bodies_ )
+ b.calcRelPosition();
// Setting the moment of inertia
calcInertia();
@@ -735,11 +741,13 @@ void Union<BodyTypeTuple>::add( BodyID body )
setAngularVel( Vec3(0,0,0) );
addImpulseAtPos( oldImpulse, oldCenterOfMass);
addImpulseAtPos( bodyImpulse, bodyCenterOfMass);
- body->setLinearVel( Vec3(0,0,0) );
- body->setAngularVel( Vec3(0,0,0) );
+ bd.setLinearVel( Vec3(0,0,0) );
+ bd.setAngularVel( Vec3(0,0,0) );
// Signaling the internal modification to the superordinate body
signalModification();
+
+ return bodies_.back();
}
//*************************************************************************************************
@@ -771,8 +779,8 @@ void Union<BodyTypeTuple>::translateImpl( real_t dx, real_t dy, real_t dz )
gpos_ += dp;
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dp );
+ for( auto& b : bodies_ )
+ b.update( dp );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -811,8 +819,8 @@ void Union<BodyTypeTuple>::rotateImpl( const Quat& dq )
R_ = q_.toRotationMatrix(); // Updating the rotation of the union
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dq );
+ for( auto& b : bodies_ )
+ b.update( dq );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -843,8 +851,8 @@ void Union<BodyTypeTuple>::rotateAroundOriginImpl( const Quat& dq )
gpos_ = dq.rotate( gpos_ ); // Updating the global position of the union
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dq );
+ for( auto& b : bodies_ )
+ b.update( dq );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -876,8 +884,8 @@ void Union<BodyTypeTuple>::rotateAroundPointImpl( const Vec3& point, const Quat
gpos_ = point + dq.rotate( dp ); // Updating the global position of the union
// Updating the contained bodies
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- (*b)->update( dq );
+ for( auto& b : bodies_ )
+ b.update( dq );
Union<BodyTypeTuple>::calcBoundingBox(); // Setting the axis-aligned bounding box
wake(); // Waking the union from sleep mode
@@ -906,8 +914,8 @@ template <typename BodyTypeTuple>
bool Union<BodyTypeTuple>::containsRelPointImpl( real_t px, real_t py, real_t pz ) const
{
const Vec3 gpos( pointFromBFtoWF( px, py, pz ) );
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- if( b->containsPoint( gpos ) ) return true;
+ for( auto& b : bodies_ )
+ if( b.containsPoint( gpos ) ) return true;
return false;
}
//*************************************************************************************************
@@ -929,9 +937,10 @@ bool Union<BodyTypeTuple>::isSurfaceRelPointImpl( real_t px, real_t py, real_t p
bool surface( false );
const Vec3 gpos( pointFromBFtoWF( px, py, pz ) );
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b ) {
- if( b->containsPoint( gpos ) ) return false;
- else if( b->isSurfacePoint( gpos ) ) surface = true;
+ for( auto& b : bodies_ )
+ {
+ if( b.containsPoint( gpos ) ) return false;
+ else if( b.isSurfacePoint( gpos ) ) surface = true;
}
return surface;
@@ -974,8 +983,8 @@ void Union<BodyTypeTuple>::handleModification()
calcCenterOfMass();
// Setting the contained primitives' relative position in reference to the center of mass
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- ( *b )->calcRelPosition();
+ for( auto& b : bodies_ )
+ b.calcRelPosition();
// Setting the moment of inertia
calcInertia();
@@ -1004,8 +1013,8 @@ void Union<BodyTypeTuple>::handleTranslation()
calcCenterOfMass();
// Setting the contained bodies' relative position in reference to the center of mass
- for( auto b=bodies_.begin(); b!=bodies_.end(); ++b )
- ( *b )->calcRelPosition();
+ for( auto& b : bodies_ )
+ b.calcRelPosition();
// Setting the moment of inertia
calcInertia();
@@ -1155,65 +1164,6 @@ std::ostream& operator<<( std::ostream& os, Union<BodyTypeTuple> const * u )
//
//=================================================================================================
-//*************************************************************************************************
-/*!\brief Returns whether the union contains any bodies or not.
- *
- * \return \a true if the union is empty, \a false if it not.
- */
-template <typename BodyTypeTuple>
-inline bool Union<BodyTypeTuple>::isEmpty() const
-{
- return bodies_.size() == 0;
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns the number of rigid bodies contained in the union.
- *
- * \return The number of rigid bodies.
- */
-template <typename BodyTypeTuple>
-inline size_t Union<BodyTypeTuple>::size() const
-{
- return bodies_.size();
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns a handle to the indexed rigid body.
- *
- * \param index Access index. The index has to be in the range \f$[0..size-1]\f$.
- * \return Handle to the accessed body.
- *
- * \b Note: No runtime check is performed to insure the validity of the access index.
- */
-template <typename BodyTypeTuple>
-inline BodyID Union<BodyTypeTuple>::getBody( size_t index )
-{
- WALBERLA_ASSERT_LESS( index, bodies_.size(), "Invalid access index" );
- return bodies_[index];
-}
-//*************************************************************************************************
-
-
-//*************************************************************************************************
-/*!\brief Returns a constant handle to the indexed rigid body.
- *
- * \param index Access index. The index has to be in the range \f$[0..size-1]\f$.
- * \return Constant handle to the accessed body.
- *
- * \b Note: No runtime check is performed to insure the validity of the access index.
- */
-template <typename BodyTypeTuple>
-inline ConstBodyID Union<BodyTypeTuple>::getBody( size_t index ) const
-{
- WALBERLA_ASSERT_LESS( index, bodies_.size(), "Invalid access index" );
- return bodies_[index];
-}
-//*************************************************************************************************
-
//*************************************************************************************************
/*!\brief Returns unique type id of this type
diff --git a/src/pe/rigidbody/UnionFactory.h b/src/pe/rigidbody/UnionFactory.h
index 4cb41e9a3..45c01d4a4 100644
--- a/src/pe/rigidbody/UnionFactory.h
+++ b/src/pe/rigidbody/UnionFactory.h
@@ -145,7 +145,6 @@ BoxID createBox( Union<BodyTypeTuple>* un,
if( lengths[0] <= real_t(0) || lengths[1] <= real_t(0) || lengths[2] <= real_t(0) )
throw std::invalid_argument( "Invalid side length" );
- BoxID box = NULL;
id_t sid = 0;
if (global)
@@ -158,9 +157,8 @@ BoxID createBox( Union<BodyTypeTuple>* un,
sid = UniqueID<RigidBody>::create();
}
- box = new Box(sid, uid, gpos, Vec3(0,0,0), Quat(), lengths, material, global, communicating, infiniteMass);
+ std::unique_ptr<Box> box = std::make_unique<Box>(sid, uid, gpos, Vec3(0,0,0), Quat(), lengths, material, global, communicating, infiniteMass);
box->MPITrait.setOwner( un->MPITrait.getOwner() );
- un->add(box);
if (box != NULL)
{
@@ -175,7 +173,7 @@ BoxID createBox( Union<BodyTypeTuple>* un,
);
}
- return box;
+ return static_cast<BoxID> (&(un->add(std::move(box))));
}
//*************************************************************************************************
@@ -217,7 +215,6 @@ CapsuleID createCapsule( Union<BodyTypeTuple>* un,
if( length <= real_c(0) )
throw std::invalid_argument( "Invalid capsule length" );
- CapsuleID capsule = NULL;
id_t sid = 0;
if (global)
@@ -230,16 +227,15 @@ CapsuleID createCapsule( Union<BodyTypeTuple>* un,
sid = UniqueID<RigidBody>::create();
}
- capsule = new Capsule(sid, uid, gpos, Vec3(0,0,0), Quat(), radius, length, material, global, communicating, infiniteMass);
+ std::unique_ptr<Capsule> capsule = std::make_unique<Capsule>(sid, uid, gpos, Vec3(0,0,0), Quat(), radius, length, material, global, communicating, infiniteMass);
capsule->MPITrait.setOwner( un->MPITrait.getOwner() );
- un->add(capsule);
if (capsule != NULL)
{
- WALBERLA_LOG_DETAIL("Created capsule " << capsule->getSystemID() << "\n" << capsule);
+ WALBERLA_LOG_DETAIL("Created capsule " << capsule->getSystemID() << "\n" << *capsule);
}
- return capsule;
+ return static_cast<CapsuleID>(&(un->add(std::move(capsule))));
}
//*************************************************************************************************
@@ -277,7 +273,6 @@ SphereID createSphere( Union<BodyTypeTuple>* un,
throw std::invalid_argument( "Invalid sphere radius" );
id_t sid(0);
- SphereID sphere = NULL;
if (global)
{
@@ -290,9 +285,8 @@ SphereID createSphere( Union<BodyTypeTuple>* un,
sid = UniqueID<RigidBody>::create();
}
- sphere = new Sphere(sid, uid, gpos, Vec3(0,0,0), Quat(), radius, material, global, communicating, infiniteMass);
+ std::unique_ptr<Sphere> sphere = std::make_unique<Sphere>(sid, uid, gpos, Vec3(0,0,0), Quat(), radius, material, global, communicating, infiniteMass);
sphere->MPITrait.setOwner( un->MPITrait.getOwner() );
- un->add( sphere );
if (sphere != NULL)
{
@@ -307,7 +301,7 @@ SphereID createSphere( Union<BodyTypeTuple>* un,
);
}
- return sphere;
+ return static_cast<SphereID>(&(un->add( std::move(sphere) )));
}
} // namespace pe
diff --git a/tests/pe/Collision.cpp b/tests/pe/Collision.cpp
index 98ce1fc4a..54d4f1125 100644
--- a/tests/pe/Collision.cpp
+++ b/tests/pe/Collision.cpp
@@ -31,6 +31,7 @@
#include "pe/rigidbody/Sphere.h"
#include "pe/rigidbody/Plane.h"
#include "pe/rigidbody/Union.h"
+#include "pe/rigidbody/UnionFactory.h"
#include "pe/rigidbody/SetBodyTypeIDs.h"
#include "pe/Types.h"
@@ -273,13 +274,10 @@ void CapsuleTest2()
void UnionTest()
{
typedef Union< boost::tuple<Sphere> > UnionT;
- MaterialID iron = Material::find("iron");
UnionT un1(120, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), false, true, false);
UnionT un2(121, 0, Vec3(real_t(1.5),0,0), Vec3(0,0,0), Quat(), false, true, false);
- SphereID sp1 = new Sphere(123, 1, Vec3(0,0,0), Vec3(0,0,0), Quat(), 1, iron, false, true, false);
- un1.add(sp1);
- SphereID sp2 = new Sphere(124, 2, Vec3(real_t(1.5),0,0), Vec3(0,0,0), Quat(), 1, iron, false, true, false);
- un2.add(sp2);
+ auto sp1 = createSphere(&un1, 123, Vec3(0,0,0), 1);
+ auto sp2 = createSphere(&un2, 124, Vec3(real_t(1.5),0,0), 1);
std::vector<Contact> contacts;
diff --git a/tests/pe/CollisionTobiasGJK.cpp b/tests/pe/CollisionTobiasGJK.cpp
index 2c3fa052a..f1710053b 100644
--- a/tests/pe/CollisionTobiasGJK.cpp
+++ b/tests/pe/CollisionTobiasGJK.cpp
@@ -32,6 +32,7 @@
#include "pe/rigidbody/Sphere.h"
#include "pe/rigidbody/Plane.h"
#include "pe/rigidbody/Union.h"
+#include "pe/rigidbody/UnionFactory.h"
#include "pe/rigidbody/Ellipsoid.h"
#include "pe/rigidbody/SetBodyTypeIDs.h"
@@ -355,19 +356,16 @@ void UnionTest(){
Box box(179, 179, Vec3(0,0,0), Vec3(0,0,0), Quat(), Vec3(real_t(10),real_t(2), real_t(10)), iron, false, true, false);
- Union<boost::tuple<Sphere>> *unsub = new Union<boost::tuple<Sphere>>(192, 192, Vec3(0,real_t(3.8),0), Vec3(0,0,0), Quat(), false, true, false);
+ using UnionT = Union<boost::tuple<Sphere>>;
+ auto unsub = std::make_unique<UnionT>(192, 192, Vec3(0,real_t(3.8),0), Vec3(0,0,0), Quat(), false, true, false);
- Sphere sp1( 180, 180, Vec3(-3,real_t(3.8),0), Vec3(0,0,0), Quat(), real_t(3.0) , iron, false, true, false );
- Sphere sp2( 181, 181, Vec3(3,real_t(3.8),0), Vec3(0,0,0), Quat(), real_t(3.0), iron, false, true, false );
-
- Sphere sp3( 182, 182, Vec3(0,real_t(6),0), Vec3(0,0,0), Quat(), real_t(3.0), iron, false, true, false );
- unsub->add(&sp1);
- unsub->add(&sp2);
+ auto sp1 = createSphere(unsub.get(), 180, Vec3(-3,real_t(3.8),0), real_t(3.0));
+ auto sp2 = createSphere(unsub.get(), 181, Vec3(3,real_t(3.8),0), real_t(3.0));
//Create another union, and add sub union
Union<boost::tuple<Sphere, Union<boost::tuple<Sphere>>>> *un = new Union<boost::tuple<Sphere, Union<boost::tuple<Sphere>>>>(193, 193, Vec3(0, 0, 0), Vec3(0,0,0), Quat(), false, true, false);
- un->add(&sp3);
- un->add(unsub);
+ createSphere(un, 182, Vec3(0,real_t(6),0), real_t(3.0));
+ un->add(std::move(unsub));
PossibleContacts pcs;
@@ -378,9 +376,9 @@ void UnionTest(){
Contact &c = container.back();
WALBERLA_LOG_DEVEL( c.getDistance() << " " << c.getNormal() << " " << c.getPosition() );
if(c.getBody1()->getID() == 181) {
- checkContact( c, Contact(&sp2, &box, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(sp2, &box, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
} else if (c.getBody1()->getID() == 179) {
- checkContact( c, Contact(&box, &sp2, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(&box, sp2, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
} else {
WALBERLA_ABORT("Unknown ID!");
}
@@ -390,9 +388,9 @@ void UnionTest(){
c = container.back();
WALBERLA_LOG_DEVEL( c.getDistance() << " " << c.getNormal() << " " << c.getPosition() );
if(c.getBody1()->getID() == 180) {
- checkContact( c, Contact(&sp1, &box, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(sp1, &box, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
} else if (c.getBody1()->getID() == 179) {
- checkContact( c, Contact(&box, &sp1, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(&box, sp1, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
} else {
WALBERLA_ABORT("Unknown ID!");
}
@@ -406,9 +404,9 @@ void UnionTest(){
c = container.back();
WALBERLA_LOG_DEVEL( c.getDistance() << " " << c.getNormal() << " " << c.getPosition() );
if(c.getBody1()->getID() == 181) {
- checkContact( c, Contact(&sp2, &box, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(sp2, &box, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
} else if (c.getBody1()->getID() == 179) {
- checkContact( c, Contact(&box, &sp2, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(&box, sp2, Vec3(real_t(3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
} else {
WALBERLA_ABORT("Unknown ID!");
}
@@ -417,9 +415,9 @@ void UnionTest(){
c = container.back();
WALBERLA_LOG_DEVEL( c.getDistance() << " " << c.getNormal() << " " << c.getPosition() );
if(c.getBody1()->getID() == 180) {
- checkContact( c, Contact(&sp1, &box, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(sp1, &box, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, 1, 0), real_t(-0.2)), Vec3(0,0,0));
} else if (c.getBody1()->getID() == 179) {
- checkContact( c, Contact(&box, &sp1, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
+ checkContact( c, Contact(&box, sp1, Vec3(real_t(-3), real_t(0.9), 0), Vec3(0, -1, 0), real_t(-0.2)), Vec3(0,0,0));
} else {
WALBERLA_ABORT("Unknown ID!");
}
diff --git a/tests/pe/Marshalling.cpp b/tests/pe/Marshalling.cpp
index 30da9d3be..b815a5d96 100644
--- a/tests/pe/Marshalling.cpp
+++ b/tests/pe/Marshalling.cpp
@@ -170,8 +170,8 @@ void testUnion()
WALBERLA_CHECK_EQUAL(u1.size(), u2->size());
//getting spheres of second union
- SphereID s12 = static_cast<SphereID> (*(u2->begin()));
- SphereID s22 = static_cast<SphereID> (*(++(u2->begin())));
+ SphereID s12 = static_cast<SphereID> (u2->begin().getBodyID());
+ SphereID s22 = static_cast<SphereID> ((++(u2->begin())).getBodyID());
WALBERLA_CHECK_UNEQUAL( s12, s22 );
WALBERLA_CHECK_FLOAT_EQUAL( s11->getPosition(), s12->getPosition());
diff --git a/tests/pe/ShadowCopy.cpp b/tests/pe/ShadowCopy.cpp
index da6c31cef..8c5dba7c4 100644
--- a/tests/pe/ShadowCopy.cpp
+++ b/tests/pe/ShadowCopy.cpp
@@ -19,6 +19,7 @@
//======================================================================================================================
#include "pe/basic.h"
+#include "pe/rigidbody/UnionFactory.h"
#include "pe/utility/GetBody.h"
#include "pe/utility/DestroyBody.h"
@@ -95,12 +96,9 @@ int main( int argc, char** argv )
destroyBodyBySID( *globalBodyStorage, forest->getBlockStorage(), storageID, sid );
WALBERLA_LOG_PROGRESS_ON_ROOT( " *** UNION *** ");
- MaterialID iron = Material::find("iron");
UnionT* un = createUnion< boost::tuple<Sphere> >( *globalBodyStorage, forest->getBlockStorage(), storageID, 0, Vec3(2,2,2) );
- SphereID sp1 = new Sphere( 10, 0, Vec3(real_t(4.9),2,2), Vec3(0,0,0), Quat(), real_t(1) , iron, false, true, false );
- SphereID sp2 = new Sphere( 11, 0, Vec3(3,2,2) , Vec3(0,0,0), Quat(), real_t(1.5), iron, false, true, false );
- un->add(sp1);
- un->add(sp2);
+ auto sp1 = createSphere(un, 10, Vec3(real_t(4.9),2,2), real_t(1));
+ auto sp2 = createSphere(un, 11, Vec3(3,2,2), real_t(1.5));
un->setPosition( Vec3( real_t(4.9), 2, 2) );
auto relPosSp1 = sp1->getRelPosition();
auto relPosSp2 = sp2->getRelPosition();
@@ -113,8 +111,8 @@ int main( int argc, char** argv )
syncCall();
un = static_cast<UnionT*> (getBody( *globalBodyStorage, forest->getBlockStorage(), storageID, sid, StorageSelect::LOCAL ));
- sp1 = static_cast<SphereID> (*(un->begin()));
- sp2 = static_cast<SphereID> (*(++(un->begin())));
+ sp1 = static_cast<SphereID> (un->begin().getBodyID());
+ sp2 = static_cast<SphereID> ((++(un->begin())).getBodyID());
WALBERLA_CHECK_NOT_NULLPTR(sp1);
WALBERLA_CHECK_NOT_NULLPTR(sp2);
WALBERLA_CHECK_EQUAL( sp1->getTypeID(), Sphere::getStaticTypeID() );
@@ -152,8 +150,8 @@ int main( int argc, char** argv )
posUnion = Vec3(real_t(0.9),2,2);
un = static_cast<UnionT*> (getBody( *globalBodyStorage, forest->getBlockStorage(), storageID, sid, StorageSelect::LOCAL ));
- sp1 = static_cast<SphereID> (*(un->begin()));
- sp2 = static_cast<SphereID> (*(++(un->begin())));
+ sp1 = static_cast<SphereID> (un->begin().getBodyID());
+ sp2 = static_cast<SphereID> ((++(un->begin())).getBodyID());
WALBERLA_CHECK_NOT_NULLPTR(sp1);
WALBERLA_CHECK_NOT_NULLPTR(sp2);
WALBERLA_CHECK_EQUAL( sp1->getTypeID(), Sphere::getStaticTypeID() );
diff --git a/tests/pe/Union.cpp b/tests/pe/Union.cpp
index 6cd0aec53..1a814c28a 100644
--- a/tests/pe/Union.cpp
+++ b/tests/pe/Union.cpp
@@ -25,6 +25,7 @@
#include "pe/basic.h"
#include "pe/rigidbody/Union.h"
+#include "pe/rigidbody/UnionFactory.h"
#include "pe/ccd/SimpleCCDDataHandling.h"
#include "pe/synchronization/SyncNextNeighbors.h"
#include "pe/vtk/BodyVtkOutput.h"
@@ -75,12 +76,9 @@ void SnowManFallingOnPlane()
createPlane( *globalBodyStorage, 0, Vec3(0,0,1), Vec3(0,0,0) );
- MaterialID iron = Material::find("iron");
- UnionType* un = createUnion< boost::tuple<Sphere> >( *globalBodyStorage, forest->getBlockStorage(), storageID, 0, Vec3(5,5,5) );
- SphereID sp1 = new Sphere( 10, 0, Vec3(5,5,1), Vec3(0,0,0), Quat(), real_t(1) , iron, false, true, false );
- SphereID sp2 = new Sphere( 11, 0, Vec3(real_t(6.7),5,real_t(1.2)), Vec3(0,0,0), Quat(), real_t(1.1), iron, false, true, false );
- un->add(sp1);
- un->add(sp2);
+ UnionType* un = createUnion< boost::tuple<Sphere> >( *globalBodyStorage, forest->getBlockStorage(), storageID, 0, Vec3(5,5,5) );
+ auto sp1 = createSphere(un, 10, Vec3(5,5,1), real_t(1));
+ auto sp2 = createSphere(un, 11, Vec3(real_t(6.7),5,real_t(1.2)), real_t(1.1));
auto distance = (sp1->getPosition() - sp2->getPosition()).length();
@@ -106,14 +104,15 @@ void ImpulsCarryover()
{
MaterialID iron = Material::find("iron");
- UnionType* un = new Union< boost::tuple<Sphere> >(12, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), false, true, false);
- SphereID sp1 = new Sphere( 10, 0, Vec3( 1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
- SphereID sp2 = new Sphere( 11, 0, Vec3(-1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
+ auto un = std::make_unique<UnionType>(12, 0, Vec3(0,0,0), Vec3(0,0,0), Quat(), false, true, false);
+ auto sp1 = std::make_unique<Sphere>( 10, 0, Vec3( 1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
+ auto sp2 = std::make_unique<Sphere>( 11, 0, Vec3(-1,0,0), Vec3(0,0,0), Quat(), real_t(1), iron, false, true, false );
+
sp1->setLinearVel(Vec3(0,real_c(+1),0));
sp2->setLinearVel(Vec3(0,real_c(-1),0));
- un->add(sp1);
- un->add(sp2);
+ un->add( std::move(sp1) );
+ un->add( std::move(sp2) );
WALBERLA_CHECK_FLOAT_EQUAL( un->getPosition(), Vec3(0,0,0) );
WALBERLA_CHECK_FLOAT_EQUAL( un->getLinearVel(), Vec3(0,0,0) );
--
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