imstkPbdInflatableDistanceConstraint.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkPbdDistanceConstraint.h"
#include "imstkPbdConstraintFunctor.h"

namespace imstk
{
class PbdInflatableDistanceConstraint : public PbdDistanceConstraint
{
public:
    PbdInflatableDistanceConstraint() : PbdDistanceConstraint() {}

    void initConstraint(const Vec3d& p0, const Vec3d& p1,
                        const PbdParticleId& pIdx0,
                        const PbdParticleId& pIdx1,
                        const double k = 1e5)
    {
        PbdDistanceConstraint::initConstraint(p0, p1, pIdx0, pIdx1, k);
        m_initialRestLength = m_restLength;
        m_initialStiffness  = m_stiffness;
    }

    void projectConstraint(PbdState&         bodies,
                           const double      dt,
                           const SolverType& type) override
    {
        if (isInflated())
        {
            m_restLength =
                m_restLength + m_diffusionRate * dt * (m_initialRestLength - m_restLength);
            m_stiffness = m_stiffness + m_diffusionRate * dt * (m_initialStiffness - m_stiffness);
        }
        PbdConstraint::projectConstraint(bodies, dt, type);
    }

    void setRestLength(const double restLength) { m_restLength = restLength; }
    const double getRestLength() const { return m_restLength; }

    void setInitRestLength(const double initRestLength) { m_initialRestLength = initRestLength; }
    const double getInitRestLength() const { return m_initialRestLength; }

    void resetRestLength() { m_restLength = m_initialRestLength; }
    void resetStiffness() { m_stiffness = m_initialStiffness; }

    bool isInflated() const { return m_inflated; }
    void setInflated() { m_inflated = true; }

public:
    double m_initialRestLength = 0.0;
    double m_initialStiffness  = 1.0;
    double m_diffusionRate     = 0.00001;

    bool m_inflated = false;
};

struct PbdInflatableDistanceConstraintFunctor : public PbdDistanceConstraintFunctor
{
    public:
        PbdInflatableDistanceConstraintFunctor() : PbdDistanceConstraintFunctor() {}
        ~PbdInflatableDistanceConstraintFunctor() override = default;

        std::shared_ptr<PbdDistanceConstraint> makeDistConstraint(
            const VecDataArray<double, 3>& vertices,
            int i1, int i2) override
        {
            auto constraint = std::make_shared<PbdInflatableDistanceConstraint>();
            constraint->initConstraint(vertices[i1], vertices[i2],
                { m_bodyIndex, i1 }, { m_bodyIndex, i2 }, m_stiffness);
            return constraint;
        }
};
} // imstk