introduce MPRFloatType for ContactDetectionMPR_handler

Author: AndreaNeumayr

src/Modia3D.jl

@@ -94,7 +94,8 @@ convertAndStripUnit(TargetType, requiredUnit, value) =
     numberType(value) <: Unitful.AbstractQuantity && unit.(value) != Unitful.NoUnits ?
             convert(TargetType, ustrip.( uconvert.(requiredUnit, value))) : convert(TargetType, value)
 
-
+# MPRFloatType is used to change betweeen Double64 and Float64 for mpr calculations
+const MPRFloatType = Float64
 
 # Include sub-modules
 include(joinpath("Frames"           , "_module.jl"))

src/contactDetection/ContactDetectionMPR/ContactDetectionMPR_handler.jl

@@ -108,37 +108,31 @@ about the contact situation.
 - `neps`: Small number used to check whether a floating number is close to zero (> 0.0).
 
 """
-mutable struct ContactDetectionMPR_handler <: Modia3D.AbstractContactDetection
-  contactPairs::Composition.ContactPairs
-  distanceComputed::Bool
-
-  lastContactDict::Dict{PairID,ContactPair}
-  contactDict::Dict{    PairID,ContactPair}
-  noContactMinVal::Float64
-
-  tol_rel::Float64
-  niter_max::Int
-  neps::Float64
-
-  # Visualization options
-  visualizeContactPoints::Bool
-  visualizeSupportPoints::Bool
-  defaultContactSphereDiameter::Float64
-
-  function ContactDetectionMPR_handler(;tol_rel   = 1.0e-7,
-                                        niter_max = 100 ,
-                                        neps      = sqrt(eps()))
-    @assert(tol_rel > 0.0)
-    @assert(niter_max > 0)
-    @assert(neps > 0.0)
-    handler = new()
-    handler.distanceComputed = false
-    handler.lastContactDict  = Dict{PairID,ContactPair}()
-    handler.contactDict      = Dict{PairID,ContactPair}()
-    handler.noContactMinVal  = 42.0
-    handler.tol_rel          = tol_rel
-    handler.niter_max        = niter_max
-    handler.neps             = neps
-    return handler
-  end
+mutable struct ContactDetectionMPR_handler{T} <: Modia3D.AbstractContactDetection
+    distanceComputed::Bool
+
+    lastContactDict::Dict{PairID,ContactPair}
+    contactDict::Dict{    PairID,ContactPair}
+    noContactMinVal::Float64
+
+    tol_rel::T
+    niter_max::Int
+    neps::T
+
+    contactPairs::Composition.ContactPairs
+
+    # Visualization options
+    visualizeContactPoints::Bool
+    visualizeSupportPoints::Bool
+    defaultContactSphereDiameter::Float64
+
+    function ContactDetectionMPR_handler{T}(;tol_rel  = 1.0e-7,
+                                            niter_max = 100 ,
+                                            neps      = sqrt(eps(T))) where {T}
+        @assert(tol_rel > 0.0)
+        @assert(niter_max > 0)
+        @assert(neps > 0.0)
+        new(false, Dict{PairID,ContactPair}(), Dict{PairID,ContactPair}(), 42.0, tol_rel, niter_max, neps)
+    end
 end
+ContactDetectionMPR_handler() = ContactDetectionMPR_handler{Modia3D.MPRFloatType}()

src/contactDetection/ContactDetectionMPR/handler.jl

@@ -12,8 +12,8 @@ AABB_touching(aabb1::Basics.BoundingBox, aabb2::Basics.BoundingBox) = aabb1.x_ma
 
 
 function Composition.initializeContactDetection!(world::Composition.Object3D, scene::Composition.Scene)::Nothing
-    if typeof(scene.options.contactDetection) == Modia3D.ContactDetectionMPR_handler
-        ch::Modia3D.ContactDetectionMPR_handler = scene.options.contactDetection
+    if typeof(scene.options.contactDetection) == Modia3D.ContactDetectionMPR_handler{Modia3D.MPRFloatType}
+        ch = scene.options.contactDetection
         ch.contactPairs = Composition.ContactPairs(world, scene, ch.visualizeContactPoints,
             ch.visualizeSupportPoints, ch.defaultContactSphereDiameter)
         if ch.contactPairs.nz == 0