imstkLineMeshToLineMeshCCD.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 "imstkCCDAlgorithm.h"
#include "imstkMacros.h"
#include "imstkVecDataArray.h"
#include <array>

namespace imstk
{
class LineMesh;
template<typename T, int N> class VecDataArray;

class LineMeshToLineMeshCCD : public CCDAlgorithm
{
public:
    LineMeshToLineMeshCCD();
    ~LineMeshToLineMeshCCD() override = default;

    IMSTK_TYPE_NAME(LineMeshToLineMeshCCD)

    
    void updatePreviousTimestepGeometry(
        std::shared_ptr<const Geometry> geomA,
        std::shared_ptr<const Geometry> geomB) override;

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

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

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

private:
    void internalComputeCollision(
        std::shared_ptr<Geometry>      geomA,
        std::shared_ptr<Geometry>      geomB,
        std::vector<CollisionElement>* elementsA,
        std::vector<CollisionElement>* elementsB);

    std::shared_ptr<LineMesh> m_prevA;
    std::shared_ptr<LineMesh> m_prevB;
};
} // namespace imstk