imstkClosedSurfaceMeshToMeshCD.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 "imstkCollisionDetectionAlgorithm.h"
#include "imstkDataArray.h"
#include "imstkMacros.h"

namespace imstk
{
class CollisionData;
class PointSet;
class SurfaceMesh;

class ClosedSurfaceMeshToMeshCD : public CollisionDetectionAlgorithm
{
public:
    ClosedSurfaceMeshToMeshCD();
    ~ClosedSurfaceMeshToMeshCD() override = default;

    IMSTK_TYPE_NAME(ClosedSurfaceMeshToMeshCD)

public:
    void setGenerateEdgeEdgeContacts(bool genEdgeEdgeContacts) { m_generateEdgeEdgeContacts = genEdgeEdgeContacts; }

    void setGenerateVertexTriangleContacts(bool genVertexTriangleContacts) { m_generateVertexTriangleContacts = genVertexTriangleContacts; }

    void setPadding(const Vec3d& padding) { m_padding = padding; }
    const Vec3d& getPadding() const { return m_padding; }

    void setProximity(const double proximity) { m_proximity = proximity; }
    double getProximity() const { return m_proximity; }

    void setDoBroadPhase(const bool doBroadPhase) { m_doBroadPhase = doBroadPhase; }
    bool getDoBroadPhase() const { return m_doBroadPhase; }

protected:
    void computeCollisionDataAB(
        std::shared_ptr<Geometry>      geomA,
        std::shared_ptr<Geometry>      geomB,
        std::vector<CollisionElement>& elementsA,
        std::vector<CollisionElement>& elementsB) override;

    void vertexToTriangleTest(
        std::shared_ptr<Geometry>      geomA,
        std::shared_ptr<Geometry>      geomB,
        std::vector<CollisionElement>& elementsA,
        std::vector<CollisionElement>& elementsB);

    void lineMeshEdgeToTriangleTest(
        std::shared_ptr<Geometry>      geomA,
        std::shared_ptr<Geometry>      geomB,
        std::vector<CollisionElement>& elementsA,
        std::vector<CollisionElement>& elementsB);

    void surfMeshEdgeToTriangleTest(
        std::shared_ptr<Geometry>      geomA,
        std::shared_ptr<Geometry>      geomB,
        std::vector<CollisionElement>& elementsA,
        std::vector<CollisionElement>& elementsB);

private:
    bool doBroadPhaseCollisionCheck(
        std::shared_ptr<Geometry> geomA,
        std::shared_ptr<Geometry> geomB) const;

    bool m_generateEdgeEdgeContacts       = false;
    bool m_generateVertexTriangleContacts = true;
    bool m_doBroadPhase = true;

    std::vector<bool> m_vertexInside;
    DataArray<double> m_signedDistances;
    Vec3d  m_padding   = Vec3d(0.001, 0.001, 0.001);
    double m_proximity = -1.0; // Default off -1
};
} // namespace imstk