imstkBoneDrillingCH.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 "imstkCollisionHandling.h"
#include "imstkMath.h"
#include "imstkMacros.h"

namespace imstk
{
class CollisionData;
class CollidingObject;
class RigidObject2;

class BoneDrillingCH : public CollisionHandling
{
public:
    BoneDrillingCH() = default;
    virtual ~BoneDrillingCH() override = default;

    IMSTK_TYPE_NAME(BoneDrillingCH)

public:
    void setInputObjectBone(std::shared_ptr<CollidingObject> boneObject) { setInputObjectA(boneObject); }

    void setInputObjectDrill(std::shared_ptr<RigidObject2> drillObject);

    std::shared_ptr<CollidingObject> getBoneObj() const { return getInputObjectA(); }
    std::shared_ptr<RigidObject2> getDrillObj() const;

public:
    double getStiffness() const { return m_stiffness; }
    void setStiffness(const double k) { m_stiffness = k; }

    double getDamping() const { return m_damping; }
    void setDamping(const double d) { m_damping = d; }

protected:
    virtual void handle(
        const std::vector<CollisionElement>& elementsA,
        const std::vector<CollisionElement>& elementsB) override;

    void erodeBone(
        const std::vector<CollisionElement>& elementsA,
        const std::vector<CollisionElement>& elementsB);

private:
    double m_stiffness = 10e-01;                
    double m_damping   = 0.005;                 

    double m_angularSpeed = 10 * PI;            
    double m_BoneHardness = 10;                 

    std::vector<double> m_nodalDensity;         
    double m_initialBoneDensity = 1.0;          

//    std::vector<size_t> m_erodedNodes; /// \todo Unused variable
    std::vector<bool> m_nodeRemovalStatus;               
    std::vector<std::vector<size_t>> m_nodalCardinalSet; 

    bool  m_initialStep = true;                          
    Vec3d m_prevPos;                                     
};
} // namespace imstk