imstkPbdAngularConstraint.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 "imstkPbdConstraint.h"

namespace imstk
{
class PbdAngularConstraint : public PbdConstraint
{
public:
    PbdAngularConstraint(int numParticles) : PbdConstraint(numParticles) { }
    ~PbdAngularConstraint() override = default;

    IMSTK_TYPE_NAME(PbdAngularConstraint)

    
    void projectConstraint(PbdState& bodies,
                           const double dt, const SolverType& type) override;
};

class PbdAngularHingeConstraint : public PbdAngularConstraint
{
public:
    PbdAngularHingeConstraint() : PbdAngularConstraint(1) { }
    ~PbdAngularHingeConstraint() override = default;

    void initConstraint(const PbdParticleId& pIdx0,
                        const Vec3d&         hingeAxes,
                        const double         compliance);

    bool computeValueAndGradient(PbdState& bodies,
                                 double& c, std::vector<Vec3d>& dcdx) override;

protected:
    Vec3d m_hingeAxes = Vec3d(1.0, 0.0, 0.0); // The axes it can rotate around
};

class PbdAngularDistanceConstraint : public PbdAngularConstraint
{
public:
    PbdAngularDistanceConstraint() : PbdAngularConstraint(2) { }
    ~PbdAngularDistanceConstraint() override = default;

    void initConstraint(const PbdParticleId& p0,
                        const PbdParticleId& p1,
                        const double         compliance);

    void initConstraintOffset(
        const PbdState&      bodies,
        const PbdParticleId& p0,
        const PbdParticleId& p1,
        const double         compliance);

    void initConstraintOffset(
        const PbdParticleId& p0,
        const PbdParticleId& p1,
        const Quatd          rotationalOffset,
        const double         compliance);

    bool computeValueAndGradient(PbdState& bodies,
                                 double& c, std::vector<Vec3d>& dcdx) override;

protected:
    Quatd m_offset = Quatd::Identity();
};
} // namespace imstk