diff --git a/src/pe/collision/EPA.h b/src/pe/collision/EPA.h
index 6abe12a8ea75ae958fe745406fcc33d033e19629..c73183941b878f3f229c596dd3b2964e351f2915 100644
--- a/src/pe/collision/EPA.h
+++ b/src/pe/collision/EPA.h
@@ -90,6 +90,20 @@ public:
//@}
//**********************************************************************************************
+ //**Getter/Setter functions*****************************************************************************
+ /*!\name Getter and Setter functions */
+ //@{
+ inline void setMaxSupportPoints( size_t maxSupportPoints) {maxSupportPoints_ = maxSupportPoints;}
+
+ inline size_t getMaxSupportPoints() {return maxSupportPoints_;}
+
+ inline void setMaxTriangles( size_t maxTriangles) {maxTriangles_ = maxTriangles;}
+
+ inline size_t getMaxTriangles() {return maxTriangles_;}
+
+ //@}
+ //**********************************************************************************************
+
private:
//**Utility functions***************************************************************************
/*!\name Utility functions */
@@ -128,8 +142,8 @@ private:
private:
//EPA constants
- static const size_t maxSupportPoints_ = 100;
- static const size_t maxTriangles_ = 200;
+ size_t maxSupportPoints_ = 100;
+ size_t maxTriangles_ = 200;
};
//*************************************************************************************************
diff --git a/src/pe/fcd/IterativeFCD.h b/src/pe/fcd/IterativeFCD.h
index 995faf7ea3861adccd29098e78d2018e6d1e49ce..5634f8bb6d291ef288e6c1fd15a43e4fa32051a0 100644
--- a/src/pe/fcd/IterativeFCD.h
+++ b/src/pe/fcd/IterativeFCD.h
@@ -109,7 +109,7 @@ private:
* \param bd1 The first body.
* \param bd2 The second body.
*
- * This function is called by generateContacts() on all normal
+ * This function is called by generateContactsPair() on all normal (single)
* body pairs and on each single bodys of the union.
* It checks if one of the bodies is a plane and calls the corresponding
* detection function. If collision is detected a Contact is generated and
@@ -152,6 +152,38 @@ private:
}
}
+ /* Resolve pairs with unions and call generateContacts single for each pair of non-united
+ * particles.
+ */
+ void generateContactsPair(BodyID bd1, BodyID bd2){
+ bool hasSubbodies1 = bd1->hasSubBodies();
+ if( hasSubbodies1 ){
+ UnionGenericType* u1 = nullptr;
+ u1= static_cast<UnionGenericType*>(bd1);
+ //Loop over possible subbodies of first rigid body
+ auto it1 = u1->begin();
+ while(it1 != u1->end()){
+ generateContactsPair(*it1, bd2);
+ it1++;
+ }
+ }else{
+ //bd1 is a single body
+ bool hasSubbodies2 = bd2->hasSubBodies();
+ if( hasSubbodies2 ){
+ UnionGenericType* u2 = nullptr;
+ u2= static_cast<UnionGenericType*>(bd2);
+ auto it2 = u2->begin();
+ while(it2 != u2->end()){
+ generateContactsPair(bd1, *it2);
+ it2++;
+ }
+ }else{
+ //bd1 and bd2 are single bodies
+ generateContactsSingle(bd1, bd2);
+ }
+ }
+ }
+
public:
/*!\brief Checks each body pair in the given vector and generates
* a vector of contacts.
@@ -164,25 +196,7 @@ public:
contacts_.clear();
for (auto it = possibleContacts.begin(); it != possibleContacts.end(); ++it)
{
- bool hasSubbodies1 = it->first->hasSubBodies();
- UnionGenericType* u1 = nullptr;
- if( hasSubbodies1 ){
- u1= static_cast<UnionGenericType*>(it->first);
- }
- //Loop over possible subbodies of first rigid body
- for(size_t bodynum1 = 0; bodynum1 < (hasSubbodies1 ? u1->size() : 1); bodynum1++){
- BodyID bd1 = (hasSubbodies1 ? u1->getBody(bodynum1) : it->first);
- bool hasSubbodies2 = it->second->hasSubBodies();
- UnionGenericType* u2 = nullptr;
- if( hasSubbodies2 ){
- u2= static_cast<UnionGenericType*>(it->second);
- }
- //Loop over possible subbodies of second rigid body
- for(size_t bodynum2 = 0; bodynum2 < (hasSubbodies2 ? u2->size() : 1); bodynum2++){
- BodyID bd2 = (hasSubbodies2 ? u2->getBody(bodynum2) : it->second);
- generateContactsSingle(bd1, bd2);
- }
- }
+ generateContactsPair(it->first, it->second);
}
return contacts_;
}
diff --git a/tests/pe/Marshalling.cpp b/tests/pe/Marshalling.cpp
index 57411b0d279cf2e5524170450d82688314fc6697..30da9d3be10fbad20a2e545dbfa915a85a988ac0 100644
--- a/tests/pe/Marshalling.cpp
+++ b/tests/pe/Marshalling.cpp
@@ -26,6 +26,7 @@
#include "pe/rigidbody/Squirmer.h"
#include "pe/rigidbody/UnionFactory.h"
#include "pe/rigidbody/Union.h"
+#include "pe/rigidbody/Ellipsoid.h"
#include "pe/communication/rigidbody/Squirmer.h"
#include "pe/communication/DynamicMarshalling.h"
#include "pe/rigidbody/SetBodyTypeIDs.h"
@@ -41,7 +42,7 @@ typedef boost::tuple<Sphere> UnionTypeTuple;
typedef Union< UnionTypeTuple > UnionT;
typedef UnionT* UnionID;
-typedef boost::tuple<Box, Capsule, Sphere, Squirmer, UnionT> BodyTuple ;
+typedef boost::tuple<Box, Capsule, Sphere, Squirmer, UnionT, Ellipsoid> BodyTuple ;
void testBox()
{
@@ -128,6 +129,28 @@ void testSquirmer()
WALBERLA_CHECK_FLOAT_EQUAL(s1.getSquirmerBeta(), s2->getSquirmerBeta());
}
+void testEllipsoid()
+{
+ MaterialID iron = Material::find("iron");
+
+ Ellipsoid e1(759847, 1234795, Vec3(real_c(1), real_c(2), real_c(3)), Vec3(0,0,0), Quat(), Vec3(3,1,5), iron, false, false, false);
+ e1.setLinearVel(Vec3(real_c(5.2), real_c(6.3), real_c(7.4)));
+ e1.setAngularVel(Vec3(real_c(1.2), real_c(2.3), real_c(3.4)));
+
+ mpi::SendBuffer sb;
+ MarshalDynamically<BodyTuple>::execute(sb, e1);
+ mpi::RecvBuffer rb(sb);
+
+ EllipsoidID e2 = static_cast<EllipsoidID> (UnmarshalDynamically<BodyTuple>::execute(rb, Ellipsoid::getStaticTypeID(), math::AABB(Vec3(-100,-100,-100), Vec3(100,100,100)), math::AABB(Vec3(-100,-100,-100), Vec3(100,100,100))));
+
+ WALBERLA_CHECK_FLOAT_EQUAL(e1.getPosition(), e2->getPosition());
+ WALBERLA_CHECK_FLOAT_EQUAL(e1.getLinearVel(), e2->getLinearVel());
+ WALBERLA_CHECK_FLOAT_EQUAL(e1.getAngularVel(), e2->getAngularVel());
+ WALBERLA_CHECK_FLOAT_EQUAL(e1.getSemiAxes(), e2->getSemiAxes());
+ WALBERLA_CHECK_EQUAL(e1.getID(), e2->getID());
+ WALBERLA_CHECK_EQUAL(e1.getSystemID(), e2->getSystemID());
+}
+
void testUnion()
{
UnionT u1(159, 423, Vec3(real_c(1), real_c(2), real_c(3)), Vec3(0,0,0), Quat(), false, false, false);
@@ -179,6 +202,7 @@ int main( int argc, char** argv )
testCapsule();
testUnion();
testSquirmer();
+ testEllipsoid();
return EXIT_SUCCESS;
}