imstkPbdCollisionConstraint.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 PbdCollisionConstraint : public PbdConstraint
{
public:
    ~PbdCollisionConstraint() override = default;

    IMSTK_TYPE_NAME(PbdCollisionConstraint)

public:
    double getStiffnessA() const { return m_stiffness[0]; }
    void setStiffnessA(const double stiffnessA) { m_stiffness[0] = stiffnessA; }
    double getStiffnessB() const { return m_stiffness[1]; }
    void setStiffnessB(const double stiffnessB) { m_stiffness[1] = stiffnessB; }

    void setEnableBoundaryCollisions(const double enableBoundaryCollisions) { m_enableBoundaryCollisions = enableBoundaryCollisions; }
    const double getEnableBoundaryCollisions() const { return m_enableBoundaryCollisions; }

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

protected:
    PbdCollisionConstraint(const int numParticlesA, const int numParticlesB);

    std::vector<bool>     m_bodiesSides; 
    std::array<double, 2> m_stiffness = { 1.0, 1.0 };
    bool m_enableBoundaryCollisions = false;
};
} // namespace imstk