imstkSphCollisionHandling.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"

namespace imstk
{
class CollisionData;
class CollisionDetectionAlgorithm;
class SphObject;

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

    IMSTK_TYPE_NAME(SphCollisionHandling)

public:
    void setInputSphObject(std::shared_ptr<SphObject> sphObj);

    void setNumberOfIterations(int iterations) { this->m_iterations = iterations; }

    void setDetection(std::shared_ptr<CollisionDetectionAlgorithm> colDetect) { this->m_colDetect = colDetect; }

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

protected:
    void solve(Vec3d& pos, Vec3d& velocity, const Vec3d& penetrationVector);

private:
    std::shared_ptr<CollisionDetectionAlgorithm> m_colDetect = nullptr;
    int    m_iterations       = 1;
    double m_boundaryFriction = 0.0;
};
} // end namespace imstk