imstkPickingAlgorithm.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 "imstkGeometryAlgorithm.h"
#include "imstkCollisionData.h"

namespace imstk
{
struct PickData
{
    int ids[4]  = { -1, -1, -1, -1 };    
    int idCount = 0;                     
    CellTypeId cellType = IMSTK_VERTEX;  
    Vec3d pickPoint     = Vec3d::Zero(); 
    int cellId = -1;                     
};

class PickingAlgorithm : public GeometryAlgorithm
{
public:
    PickingAlgorithm()
    {
        setNumInputPorts(1);
        setNumOutputPorts(0);
    }

    ~PickingAlgorithm() override = default;

    const std::vector<PickData>& pick(std::shared_ptr<Geometry> geomToPick)
    {
        setInput(geomToPick, 0);
        m_results.clear();
        update();
        return m_results;
    }

    const std::vector<PickData>& getPickData() const { return m_results; }

protected:
    std::vector<PickData> m_results;
};
} // namespace imstk