imstkLinearProjectionConstraint.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 "imstkMath.h"

namespace imstk
{
class LinearProjectionConstraint
{
public:
    LinearProjectionConstraint(const size_t& nodeId, const bool isFixed = false);
    LinearProjectionConstraint() = delete;

    ~LinearProjectionConstraint() = default;

    static const std::string getStaticTypeName() { return "LinearProjectionConstraint"; }
    const std::string getTypeName() const { return "LinearProjectionConstraint"; }

    void setProjection(const size_t& nodeId, const Vec3d& p, const Vec3d& q = Vec3d::Zero());

    void setProjectionToLine(const size_t& nodeId, const Vec3d& p);

    void setProjectorToDirichlet(const size_t& nodeId);
    void setProjectorToDirichlet(const unsigned int& nodeId, const Vec3d z);

    void reset();

    inline void setValue(const Vec3d& v) { m_value = v; }

    inline const Mat3d& getProjector() const { return m_projection; }

    inline const Vec3d& getValue() const { return m_value; }

    inline const size_t& getNodeId() const { return m_nodeId; }

    inline bool isFixed() const { return m_isFixedConstraint; }

private:
    size_t m_nodeId;            
    bool   m_isFixedConstraint; 
    Mat3d  m_projection;        
    Vec3d  m_value;             
};
} // imstk