imstkRigidBodyCH.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 "imstkMacros.h"

#include <vector>

namespace imstk
{
class CollisionData;
class RigidObject2;

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

    IMSTK_TYPE_NAME(RigidBodyCH)

public:
    void setInputRigidObjectA(std::shared_ptr<RigidObject2> rbdObjA);

    void setInputRigidObjectB(std::shared_ptr<RigidObject2> rbdObjB);

    void setInputCollidingObjectB(std::shared_ptr<CollidingObject> colObjB);

    std::shared_ptr<RigidObject2> getRigidObjA();
    std::shared_ptr<RigidObject2> getRigidObjB();

public:
    void setBaumgarteStabilization(double beta) { m_beta = beta; }
    const double getBeta() const { return m_beta; }

    void setFriction(double frictionalCoefficient)
    {
        m_frictionalCoefficient = frictionalCoefficient;
        m_useFriction = (m_frictionalCoefficient != 0.0);
    }

    const double getFriction() const { return m_frictionalCoefficient; }

    void setUseFriction(bool useFriction) { m_useFriction = useFriction; }
    const double getUseFriction() const { return m_useFriction; }

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

    void handleRbdRbdTwoWay(
        std::shared_ptr<RigidObject2>        rbdObjA,
        std::shared_ptr<RigidObject2>        rbdObjB,
        const std::vector<CollisionElement>& elementsA,
        const std::vector<CollisionElement>& elementsB);

    void handleRbdStaticOneWay(
        std::shared_ptr<RigidObject2>        rbdObj,
        std::shared_ptr<CollidingObject>     colObj,
        const std::vector<CollisionElement>& elementsA,
        const std::vector<CollisionElement>& elementsB);

    virtual void addConstraint(
        std::shared_ptr<RigidObject2> rbdObj,
        const Vec3d& contactPt, const Vec3d& contactNormal,
        const double contactDepth);

    virtual void addConstraint(
        std::shared_ptr<RigidObject2> rbdObjA,
        std::shared_ptr<RigidObject2> rbdObjB,
        const Vec3d& contactPt, const Vec3d& contactNormal,
        const double contactDepth);

protected:
    double m_beta = 0.0;
    double m_frictionalCoefficient = 2.0;
    bool   m_useFriction = false;
};
} // namespace imstk