imstkPbdConstraintContainer.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"

#include <unordered_set>

namespace imstk
{
class PbdConstraintContainer
{
public:
    PbdConstraintContainer() = default;
    virtual ~PbdConstraintContainer() = default;

public:
    using iterator       = std::vector<std::shared_ptr<PbdConstraint>>::iterator;
    using const_iterator = std::vector<std::shared_ptr<PbdConstraint>>::const_iterator;

public:
    virtual void addConstraint(std::shared_ptr<PbdConstraint> constraint);

    virtual void removeConstraint(std::shared_ptr<PbdConstraint> constraint);

    virtual void removeConstraints(
        std::shared_ptr<std::unordered_set<size_t>> vertices, const int bodyId);

    virtual iterator eraseConstraint(iterator iter);
    virtual const_iterator eraseConstraint(const_iterator iter);

    virtual void reserve(const size_t n) { m_constraints.reserve(n); }

    const bool empty() const { return m_constraints.empty() && m_partitionedConstraints.empty(); }

    const std::vector<std::shared_ptr<PbdConstraint>>& getConstraints() const { return m_constraints; }
    std::vector<std::shared_ptr<PbdConstraint>>& getConstraints() { return m_constraints; }

    const std::vector<std::vector<std::shared_ptr<PbdConstraint>>> getPartitionedConstraints() const { return m_partitionedConstraints; }

    void partitionConstraints(const int partitionThreshold);

    void clearPartitions() { m_partitionedConstraints.clear(); }

protected:
    std::vector<std::shared_ptr<PbdConstraint>> m_constraints;                         
    std::vector<std::vector<std::shared_ptr<PbdConstraint>>> m_partitionedConstraints; 
    ParallelUtils::SpinLock m_constraintLock;                                          
};
} // namespace imstk