imstkPbdDihedralConstraint.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 PbdDihedralConstraint : public PbdConstraint
{
public:
    PbdDihedralConstraint() : PbdConstraint(4) { }

    IMSTK_TYPE_NAME(PbdDihedralConstraint)

    
    void initConstraint(
        const Vec3d& p0, const Vec3d& p1, const Vec3d& p2, const Vec3d& p3,
        const PbdParticleId& pIdx0, const PbdParticleId& pIdx1,
        const PbdParticleId& pIdx2, const PbdParticleId& pIdx3,
        const double k);

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

    double getRestValue() const { return m_restAngle; }

public:
    double m_restAngle = 0.0; 
};
} // namespace imstk