imstkPbdBendConstraint.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 PbdBendConstraint : public PbdConstraint
{
public:
    PbdBendConstraint() : PbdConstraint(3) { }

    IMSTK_TYPE_NAME(PbdBendConstraint)

    
    void initConstraint(
        const Vec3d& initPos0, const Vec3d& initPos1, const Vec3d& initPos2,
        const PbdParticleId& pIdx0, const PbdParticleId& pIdx1, const PbdParticleId& pIdx2,
        const double k);
    void initConstraint(
        const PbdParticleId& pIdx0, const PbdParticleId& pIdx1, const PbdParticleId& pIdx2,
        const double restLength,
        const double k);

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

    double getRestValue() const { return m_restLength; }

public:
    double m_restLength = 0.; 
};
} // namespace imstk