Merge branch 'uniontuple' into 'master'

[API] Change BodyTypeTuple of Union to variadic template

Closes #87

See merge request walberla/walberla!189

src/pe/Types.h

@@ -74,7 +74,7 @@ class Sphere;
 class Spring;
 class Squirmer;
 class TriangleMesh;
-template <typename BodyTypeTuple>
+template <typename... BodyTypes>
 class Union;
 
 typedef RigidBody             BodyType;            //!< Type of the rigid bodies.

src/pe/communication/DynamicMarshalling.h

@@ -38,8 +38,6 @@
 
 #include "core/Abort.h"
 
-#include <tuple>
-
 
 namespace walberla {
 namespace pe {

src/pe/communication/rigidbody/Union.h

@@ -31,6 +31,8 @@
 #include "pe/communication/Marshalling.h"
 #include "pe/rigidbody/Union.h"
 
+#include <tuple>
+
 namespace walberla {
 namespace pe {
 namespace communication {
@@ -57,8 +59,8 @@ struct UnionParameters : public GeomPrimitiveParameters {
  * \param obj The object to be marshalled.
  * \return void
  */
-template < typename BodyTypeTuple >
-void marshal( mpi::SendBuffer& buffer, const Union<BodyTypeTuple>& obj )
+template < typename... BodyTypes >
+void marshal( mpi::SendBuffer& buffer, const Union<BodyTypes...>& obj )
 {
    // Material of union is not relevant for reconstruction thus marshal RigidBody instead of GeomPrimitive.
    marshal( buffer, static_cast<const RigidBody&>( obj ) );
@@ -72,12 +74,12 @@ 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>::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 )
+   const typename Union<BodyTypes...>::const_iterator begin( obj.begin() );
+   const typename Union<BodyTypes...>::const_iterator end  ( obj.end()   );
+   for(  typename Union<BodyTypes...>::const_iterator body=begin; body!=end; ++body )
    {
       buffer << body->getTypeID();
-      MarshalDynamically<BodyTypeTuple>::execute( buffer, *body );
+      MarshalDynamically<std::tuple<BodyTypes...>>::execute( buffer, *body );
    }
 }
 
@@ -109,13 +111,13 @@ void unmarshal( mpi::RecvBuffer& buffer, UnionParameters& objparam )
 //*************************************************************************************************
 
 
-template <typename BodyTypeTuple>
-inline std::unique_ptr<Union<BodyTypeTuple>> instantiate( mpi::RecvBuffer& buffer, const math::AABB& domain, const math::AABB& block, Union<BodyTypeTuple>*& newBody )
+template <typename... BodyTypes>
+inline std::unique_ptr<Union<BodyTypes...>> instantiate( mpi::RecvBuffer& buffer, const math::AABB& domain, const math::AABB& block, Union<BodyTypes...>*& newBody )
 {
    UnionParameters subobjparam;
    unmarshal( buffer, subobjparam );
    correctBodyPosition(domain, block.center(), subobjparam.gpos_);
-   auto un = std::make_unique<Union<BodyTypeTuple>>( subobjparam.sid_,
+   auto un = std::make_unique<Union<BodyTypes...>>( subobjparam.sid_,
                                                      subobjparam.uid_,
                                                      subobjparam.gpos_,
                                                      subobjparam.rpos_,
@@ -131,7 +133,7 @@ inline std::unique_ptr<Union<BodyTypeTuple>> instantiate( mpi::RecvBuffer& buffe
    {
       decltype ( static_cast<BodyID>(nullptr)->getTypeID() ) type;
       buffer >> type;
-      BodyPtr obj( UnmarshalDynamically<BodyTypeTuple>::execute(buffer, type, domain, block) );
+      BodyPtr obj( UnmarshalDynamically<std::tuple<BodyTypes...>>::execute(buffer, type, domain, block) );
       obj->setRemote( true );
       un->add(std::move(obj));
    }

src/pe/fcd/AnalyticCollisionDetection.h

@@ -37,8 +37,6 @@
 #include "core/math/Shims.h"
 #include "geometry/GeometricalFunctions.h"
 
-#include <tuple>
-
 namespace walberla {
 namespace pe {
 namespace fcd {
@@ -110,17 +108,17 @@ template <typename Container>
 inline
 bool collide( CapsuleID c, BoxID b, Container& container );
 
-template <typename BodyTypeTuple, typename BodyB, typename Container>
+template <typename... BodyTypes, typename BodyB, typename Container>
 inline
-bool collide( Union<BodyTypeTuple>* bd1, BodyB* bd2, Container& container );
+bool collide( Union<BodyTypes...>* bd1, BodyB* bd2, Container& container );
 
-template <typename BodyA, typename BodyTypeTuple, typename Container>
+template <typename BodyA, typename... BodyTypes, typename Container>
 inline
-bool collide( BodyA* bd1, Union<BodyTypeTuple>* bd2, Container& container );
+bool collide( BodyA* bd1, Union<BodyTypes...>* bd2, Container& container );
 
-template <typename BodyTypeTupleA, typename BodyTypeTupleB, typename Container>
+template <typename... BodyTypesA, typename... BodyTypesB, typename Container>
 inline
-bool collide( Union<BodyTypeTupleA>* bd1, Union<BodyTypeTupleB>* bd2, Container& container );
+bool collide( Union<BodyTypesA...>* bd1, Union<BodyTypesB...>* bd2, Container& container );
 
 } //namespace analytic
 
@@ -2120,29 +2118,29 @@ bool collide( CapsuleID c, BoxID b, Container& container )
    return collide(b, c, container);
 }
 
-template <typename BodyTypeTuple, typename BodyB, typename Container>
+template <typename... BodyTypes, typename BodyB, typename Container>
 inline
-bool collide( Union<BodyTypeTuple>* bd1, BodyB* bd2, Container& container )
+bool collide( Union<BodyTypes...>* bd1, BodyB* bd2, Container& container )
 {
    AnalyticSingleCollideFunctor<BodyB, Container> func(bd2, container);
    bool collision = false;
    for( auto it=bd1->begin(); it!=bd1->end(); ++it )
    {
-      collision |= SingleCast<BodyTypeTuple, AnalyticSingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
+      collision |= SingleCast<std::tuple<BodyTypes...>, AnalyticSingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
    }
    return collision;
 }
 
-template <typename BodyA, typename BodyTypeTuple, typename Container>
+template <typename BodyA, typename... BodyTypes, typename Container>
 inline
-bool collide( BodyA* bd1, Union<BodyTypeTuple>* bd2, Container& container )
+bool collide( BodyA* bd1, Union<BodyTypes...>* bd2, Container& container )
 {
    return collide (bd2, bd1, container);
 }
 
-template <typename BodyTypeTupleA, typename BodyTypeTupleB, typename Container>
+template <typename... BodyTypesA, typename... BodyTypesB, typename Container>
 inline
-bool collide( Union<BodyTypeTupleA>* bd1, Union<BodyTypeTupleB>* bd2, Container& container )
+bool collide( Union<BodyTypesA...>* bd1, Union<BodyTypesB...>* bd2, Container& container )
 {
    AnalyticCollideFunctor<Container> func(container);
    bool collision = false;
@@ -2150,7 +2148,7 @@ 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.getBodyID(), it2.getBodyID(), func);
+         collision |= DoubleCast<std::tuple<BodyTypesA...>, std::tuple<BodyTypesB...>, AnalyticCollideFunctor<Container>, bool>::execute(it1.getBodyID(), it2.getBodyID(), func);
       }
    }
    return collision;

src/pe/fcd/GJKEPACollideFunctor.h

@@ -28,7 +28,6 @@
 #include "pe/rigidbody/Plane.h"
 #include "pe/rigidbody/Union.h"
 #include <pe/Thresholds.h>
-#include <tuple>
 
 namespace walberla{
 namespace pe{
@@ -50,25 +49,25 @@ namespace gjkepa{
    inline bool generateContacts(Plane *a, Plane *b, Container& contacts_);
 
    //Unions
-   template<typename BodyTupleA, typename BodyB, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, BodyB *b, Container& contacts_);
+   template<typename... BodyTypesA, typename BodyB, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, BodyB *b, Container& contacts_);
 
-   template<typename BodyA, typename BodyTupleB, typename Container>
-   inline bool generateContacts(BodyA *a, Union<BodyTupleB> *b, Container& contacts_);
+   template<typename BodyA, typename... BodyTypesB, typename Container>
+   inline bool generateContacts(BodyA *a, Union<BodyTypesB...> *b, Container& contacts_);
 
-   template<typename BodyTupleA, typename BodyTupleB, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, Union<BodyTupleB>  *b, Container& contacts_);
+   template<typename... BodyTypesA, typename... BodyTypesB, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, Union<BodyTypesB...>  *b, Container& contacts_);
 
    //Union and Plane
-   template<typename BodyTupleA, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, Plane *b, Container& contacts_);
+   template<typename... BodyTypesA, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, Plane *b, Container& contacts_);
 
-   template<typename BodyTupleB, typename Container>
-   inline bool generateContacts(Plane *a, Union<BodyTupleB> *b, Container& contacts_);
+   template<typename... BodyTypesB, typename Container>
+   inline bool generateContacts(Plane *a, Union<BodyTypesB...> *b, Container& contacts_);
 }
 
 /* Iterative Collide Functor for contact Generation with iterative collision detection (GJK and EPA algorithms).
- * Usage: fcd::GenericFCD<BodyTuple, fcd::GJKEPACollideFunctor> testFCD;
+ * Usage: fcd::GenericFCD<BodyTypes..., fcd::GJKEPACollideFunctor> testFCD;
  * testFCD.generateContacts(...);
  */
 template <typename Container>
@@ -163,50 +162,50 @@ namespace gjkepa{
    }
 
    //Unions
-   template<typename BodyTupleA, typename BodyB, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, BodyB *b, Container& contacts_){
+   template<typename... BodyTypesA, typename BodyB, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, BodyB *b, Container& contacts_){
       GJKEPASingleCollideFunctor<BodyB, Container> func(b, contacts_);
       bool collision = false;
       for( auto it=a->begin(); it!=a->end(); ++it )
       {
-         collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
+         collision |= SingleCast<std::tuple<BodyTypesA...>, GJKEPASingleCollideFunctor<BodyB, Container>, bool>::execute(it.getBodyID(), func);
       }
       return collision;
    }
 
-   template<typename BodyA, typename BodyTupleB, typename Container>
-   inline bool generateContacts(BodyA *a, Union<BodyTupleB> *b, Container& contacts_){
+   template<typename BodyA, typename... BodyTypesB, typename Container>
+   inline bool generateContacts(BodyA *a, Union<BodyTypesB...> *b, Container& contacts_){
       return generateContacts(b, a, contacts_);
    }
 
-   template<typename BodyTupleA, typename BodyTupleB, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, Union<BodyTupleB>  *b, Container& contacts_){
+   template<typename... BodyTypesA, typename... BodyTypesB, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, Union<BodyTypesB...>  *b, Container& contacts_){
       GJKEPACollideFunctor<Container> func(contacts_);
       bool collision = false;
       for( auto it1=a->begin(); it1!=a->end(); ++it1 )
       {
          for( auto it2=b->begin(); it2!=b->end(); ++it2 )
          {
-            collision |= DoubleCast<BodyTupleA, BodyTupleB, GJKEPACollideFunctor<Container>, bool>::execute(it1.getBodyID(), it2.getBodyID(), func);
+            collision |= DoubleCast<std::tuple<BodyTypesA...>, std::tuple<BodyTypesB...>, GJKEPACollideFunctor<Container>, bool>::execute(it1.getBodyID(), it2.getBodyID(), func);
          }
       }
       return collision;
    }
 
    //Union and Plane (these calls are ambigous if not implemented seperatly)
-   template<typename BodyTupleA, typename Container>
-   inline bool generateContacts(Union<BodyTupleA> *a, Plane *b, Container& contacts_){
+   template<typename... BodyTypesA, typename Container>
+   inline bool generateContacts(Union<BodyTypesA...> *a, Plane *b, Container& contacts_){
       GJKEPASingleCollideFunctor<Plane, Container> func(b, contacts_);
       bool collision = false;
       for( auto it=a->begin(); it!=a->end(); ++it )
       {
-         collision |= SingleCast<BodyTupleA, GJKEPASingleCollideFunctor<Plane, Container>, bool>::execute(it.getBodyID(), func);
+         collision |= SingleCast<std::tuple<BodyTypesA...>, GJKEPASingleCollideFunctor<Plane, Container>, bool>::execute(it.getBodyID(), func);
       }
       return collision;
    }
 
-   template<typename BodyTupleB, typename Container>
-   inline bool generateContacts(Plane *a, Union<BodyTupleB> *b, Container& contacts_){
+   template<typename... BodyTypesB, typename Container>
+   inline bool generateContacts(Plane *a, Union<BodyTypesB...> *b, Container& contacts_){
       return generateContacts(b, a, contacts_);
    }
 

src/pe/fcd/SimpleFCD.h

@@ -23,7 +23,6 @@
 #include "AnalyticCollisionDetection.h"
 #include "GenericFCD.h"
 
-#include <tuple>
 #include <type_traits>
 
 namespace walberla{

src/pe/raytracing/Intersects.h

@@ -30,7 +30,6 @@
 #include "pe/rigidbody/Union.h"
 #include "pe/utility/BodyCast.h"
 #include <core/math/Utility.h>
-#include <tuple>
 
 #include <pe/raytracing/Ray.h>
 

src/pe/rigidbody/RigidBody.h

@@ -39,7 +39,7 @@
 namespace walberla{
 namespace pe{
 
-template <typename BodyTypeTuple>
+template <typename... BodyTypes>
 class Union;
 
 /**
@@ -50,7 +50,7 @@ class RigidBody : public ccd::HashGridsBodyTrait
                 , private NonCopyable
 {
 private:
-   template <typename BodyTypeTuple>
+   template <typename... BodyTypes>
    friend class Union;
 
 protected:

src/pe/rigidbody/Union.h

@@ -43,8 +43,6 @@
 #include <iostream>
 #include <stdexcept>
 
-#include <tuple>
-
 namespace walberla {
 namespace pe {
 
@@ -63,13 +61,10 @@ namespace pe {
  * the basic functionality of a sphere. For a full description of the sphere geometry,
  * see the Sphere class description.
  */
-template <typename BodyTypeTuple>
+template <typename... BodyTypes>
 class Union : public RigidBody
 {
 public:
-   //**Type definitions****************************************************************************
-   using BodyTypeTupleT        = BodyTypeTuple;
-
    //**********************************************************************************************
 
    using size_type             = BodyStorage::size_type;           //!< Size type of the body storage.
@@ -232,8 +227,8 @@ private:
  * \param communicating specifies if the sphere should take part in synchronization (syncNextNeighbour, syncShadowOwner)
  * \param infiniteMass specifies if the sphere has infinite mass and will be treated as an obstacle
  */
-template <typename BodyTypeTuple>
-Union<BodyTypeTuple>::Union( id_t sid, id_t uid, const Vec3& gpos, const Vec3& rpos, const Quat& q,
+template <typename... BodyTypes>
+Union<BodyTypes...>::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*/ )
    : RigidBody( getStaticTypeID(), sid, uid )  // Initialization of the parent class
 {
@@ -265,8 +260,8 @@ Union<BodyTypeTuple>::Union( id_t sid, id_t uid, const Vec3& gpos, const Vec3& r
 //*************************************************************************************************
 /*!\brief Destructor for the Sphere class.
  */
-template <typename BodyTypeTuple>
-Union<BodyTypeTuple>::~Union()
+template <typename... BodyTypes>
+Union<BodyTypes...>::~Union()
 {
    // Clearing the bodies
    bodies_.clear();
@@ -281,8 +276,8 @@ Union<BodyTypeTuple>::~Union()
  *
  * \return The volume of the union.
  */
-template <typename BodyTypeTuple>
-inline real_t Union<BodyTypeTuple>::getVolume() const
+template <typename... BodyTypes>
+inline real_t Union<BodyTypes...>::getVolume() const
 {
    real_t volume(0);
    for( auto bodyIt=bodies_.begin(); bodyIt!=bodies_.end(); ++bodyIt )
@@ -302,8 +297,8 @@ inline real_t Union<BodyTypeTuple>::getVolume() const
  * communication to set the remote status of a union within the simulation world. Using
  * this function explicitly may lead to simulation errors during a parallel simulation!
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::setRemote( bool remote )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::setRemote( bool remote )
 {
    remote_ = remote;
 
@@ -322,8 +317,8 @@ void Union<BodyTypeTuple>::setRemote( bool remote )
  * This function updates the axis-aligned bounding box of the union according to the current
  * position and orientation of the contained rigid bodies.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::calcBoundingBox()
+template <typename... BodyTypes>
+void Union<BodyTypes...>::calcBoundingBox()
 {
    // Setting the bounding box of an empty union
    if( bodies_.isEmpty() ) {
@@ -356,8 +351,8 @@ void Union<BodyTypeTuple>::calcBoundingBox()
  *
  * \return void
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::calcCenterOfMass()
+template <typename... BodyTypes>
+void Union<BodyTypes...>::calcCenterOfMass()
 {
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -440,8 +435,8 @@ void Union<BodyTypeTuple>::calcCenterOfMass()
  *
  * \return void
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::calcInertia()
+template <typename... BodyTypes>
+void Union<BodyTypes...>::calcInertia()
 {
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -506,8 +501,8 @@ void Union<BodyTypeTuple>::calcInertia()
  * rigid body, the function shifts the union to reposition its anchor point according to the
  * given global coordinate.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::setPositionImpl( real_t px, real_t py, real_t pz )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::setPositionImpl( real_t px, real_t py, real_t pz )
 {
    Vec3 gpos = Vec3( px, py, pz );
 
@@ -521,7 +516,7 @@ void Union<BodyTypeTuple>::setPositionImpl( real_t px, real_t py, real_t pz )
    for( auto& b : bodies_ )
       b.update( dp );
 
-   Union<BodyTypeTuple>::calcBoundingBox();    // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();    // Setting the axis-aligned bounding box
    wake();               // Waking the union from sleep mode
    signalTranslation();  // Signaling the position change to the superordinate body
 }
@@ -544,8 +539,8 @@ void Union<BodyTypeTuple>::setPositionImpl( real_t px, real_t py, real_t pz )
  * the anchor point of the union (if the union is infinite). The orientation of the rigid bodies
  * within the union in reference to the body frame of the union is not changed.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::setOrientationImpl( real_t r, real_t i, real_t j, real_t k )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::setOrientationImpl( real_t r, real_t i, real_t j, real_t k )
 {
    const Quat q ( r, i, j, k );
    const Quat dq( q * q_.getInverse() );
@@ -557,7 +552,7 @@ void Union<BodyTypeTuple>::setOrientationImpl( real_t r, real_t i, real_t j, rea
    for( auto& b : bodies_ )
       b.update( dq );
 
-   Union<BodyTypeTuple>::calcBoundingBox();  // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();  // Setting the axis-aligned bounding box
    wake();             // Waking the union from sleep mode
    signalRotation();   // Signaling the change of orientation to the superordinate body
 }
@@ -581,8 +576,8 @@ void Union<BodyTypeTuple>::setOrientationImpl( real_t r, real_t i, real_t j, rea
  * movement. This movement involves a change in the global position and the axis-aligned
  * bounding box.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::update( const Vec3& dp )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::update( const Vec3& dp )
 {
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -596,7 +591,7 @@ void Union<BodyTypeTuple>::update( const Vec3& dp )
       b.update( dp );
 
    // Setting the axis-aligned bounding box
-   Union<BodyTypeTuple>::calcBoundingBox();
+   Union<BodyTypes...>::calcBoundingBox();
 
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -614,8 +609,8 @@ void Union<BodyTypeTuple>::update( const Vec3& dp )
  * This movement involves a change in the global position, the orientation/rotation and the
  * axis-aligned bounding box of the box.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::update( const Quat& dq )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::update( const Quat& dq )
 {
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -633,7 +628,7 @@ void Union<BodyTypeTuple>::update( const Quat& dq )
       b.update( dq );
 
    // Setting the axis-aligned bounding box
-   Union<BodyTypeTuple>::calcBoundingBox();
+   Union<BodyTypes...>::calcBoundingBox();
 
    // Checking the state of the union
    WALBERLA_ASSERT( checkInvariants(), "Invalid union state detected" );
@@ -699,8 +694,8 @@ void Union<BodyTypeTuple>::update( const Quat& dq )
  *    individually for the rigid body (to exclusively make the body (in-)visible) or the entire
  *    union (to make the entire union (in-)visible.
  */
-template <typename BodyTypeTuple>
-RigidBody& Union<BodyTypeTuple>::add( std::unique_ptr<RigidBody>&& body )
+template <typename... BodyTypes>
+RigidBody& Union<BodyTypes...>::add( std::unique_ptr<RigidBody>&& body )
 {
    // Checking for "self-assignment"
    if( body.get() == BodyID( this ) ) return *this;
@@ -770,8 +765,8 @@ RigidBody& Union<BodyTypeTuple>::add( std::unique_ptr<RigidBody>&& body )
  * Changing the global position of the entire union's center of mass. All contained rigid bodies
  * are moved by the same displacement.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::translateImpl( real_t dx, real_t dy, real_t dz )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::translateImpl( real_t dx, real_t dy, real_t dz )
 {
    Vec3 dp(dx, dy, dz);
 
@@ -782,7 +777,7 @@ void Union<BodyTypeTuple>::translateImpl( real_t dx, real_t dy, real_t dz )
    for( auto& b : bodies_ )
       b.update( dp );
 
-   Union<BodyTypeTuple>::calcBoundingBox();    // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();    // Setting the axis-aligned bounding box
    wake();               // Waking the union from sleep mode
    signalTranslation();  // Signaling the position change to the superordinate body
 }
@@ -809,8 +804,8 @@ void Union<BodyTypeTuple>::translateImpl( real_t dx, real_t dy, real_t dz )
  * around the anchor point of the union (if the union is infinite). The orientation of the
  * bodies within the union in reference to the body frame of the union is not changed.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::rotateImpl( const Quat& dq )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::rotateImpl( const Quat& dq )
 {
    if (isFixed())
       WALBERLA_ABORT("Trying to rotate a fixed body: " << *this);
@@ -822,7 +817,7 @@ void Union<BodyTypeTuple>::rotateImpl( const Quat& dq )
    for( auto& b : bodies_ )
       b.update( dq );
 
-   Union<BodyTypeTuple>::calcBoundingBox();  // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();  // Setting the axis-aligned bounding box
    wake();             // Waking the union from sleep mode
    signalRotation();   // Signaling the change of orientation to the superordinate body
 }
@@ -843,8 +838,8 @@ void Union<BodyTypeTuple>::rotateImpl( const Quat& dq )
  * are applied in the order x, y, z. The orientation of the bodies within the union in
  * reference to the body frame of the union is not changed.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::rotateAroundOriginImpl( const Quat& dq )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::rotateAroundOriginImpl( const Quat& dq )
 {
    q_    = dq * q_;                // Updating the orientation of the union
    R_    = q_.toRotationMatrix();  // Updating the rotation of the union
@@ -854,7 +849,7 @@ void Union<BodyTypeTuple>::rotateAroundOriginImpl( const Quat& dq )
    for( auto& b : bodies_ )
       b.update( dq );
 
-   Union<BodyTypeTuple>::calcBoundingBox();    // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();    // Setting the axis-aligned bounding box
    wake();               // Waking the union from sleep mode
    signalTranslation();  // Signaling the position change to the superordinate body
 }
@@ -874,8 +869,8 @@ void Union<BodyTypeTuple>::rotateAroundOriginImpl( const Quat& dq )
  * all contained rigid bodies change their position and orientation accordingly. The orientation
  * of the bodies within the union in reference to the body frame of the union is not changed.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::rotateAroundPointImpl( const Vec3& point, const Quat &dq )
+template <typename... BodyTypes>
+void Union<BodyTypes...>::rotateAroundPointImpl( const Vec3& point, const Quat &dq )
 {
    const Vec3 dp( gpos_ - point );
 
@@ -887,7 +882,7 @@ void Union<BodyTypeTuple>::rotateAroundPointImpl( const Vec3& point, const Quat
    for( auto& b : bodies_ )
       b.update( dq );
 
-   Union<BodyTypeTuple>::calcBoundingBox();    // Setting the axis-aligned bounding box
+   Union<BodyTypes...>::calcBoundingBox();    // Setting the axis-aligned bounding box
    wake();               // Waking the union from sleep mode
    signalTranslation();  // Signaling the position change to the superordinate body
 }
@@ -910,8 +905,8 @@ void Union<BodyTypeTuple>::rotateAroundPointImpl( const Vec3& point, const Quat
  * \param pz The z-component of the relative coordinate.
  * \return \a true if the point lies inside the sphere, \a false if not.
  */
-template <typename BodyTypeTuple>
-bool Union<BodyTypeTuple>::containsRelPointImpl( real_t px, real_t py, real_t pz ) const
+template <typename... BodyTypes>
+bool Union<BodyTypes...>::containsRelPointImpl( real_t px, real_t py, real_t pz ) const
 {
    const Vec3 gpos( pointFromBFtoWF( px, py, pz ) );
    for( auto& b : bodies_ )
@@ -931,8 +926,8 @@ bool Union<BodyTypeTuple>::containsRelPointImpl( real_t px, real_t py, real_t pz
  *
  * The tolerance level of the check is pe::surfaceThreshold.
  */
-template <typename BodyTypeTuple>
-bool Union<BodyTypeTuple>::isSurfaceRelPointImpl( real_t px, real_t py, real_t pz ) const
+template <typename... BodyTypes>
+bool Union<BodyTypes...>::isSurfaceRelPointImpl( real_t px, real_t py, real_t pz ) const
 {
    bool surface( false );
    const Vec3 gpos( pointFromBFtoWF( px, py, pz ) );
@@ -964,8 +959,8 @@ bool Union<BodyTypeTuple>::isSurfaceRelPointImpl( real_t px, real_t py, real_t p
  * In case one of the contained rigid bodies is interally modified, this function is called to
  * recalculate the changed properties of the union.
  */
-template <typename BodyTypeTuple>
-void Union<BodyTypeTuple>::handleModification()
+template <typename... BodyTypes>