imstkPbdEdgeEdgeConstraint.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 "imstkPbdCollisionConstraint.h"

namespace imstk
{
class PbdEdgeEdgeConstraint : public PbdCollisionConstraint
{
public:
    PbdEdgeEdgeConstraint() : PbdCollisionConstraint(2, 2) { }
    ~PbdEdgeEdgeConstraint() override = default;

    IMSTK_TYPE_NAME(PbdEdgeEdgeConstraint)

public:
    void initConstraint(
        const PbdParticleId& ptA1, const PbdParticleId& ptA2,
        const PbdParticleId& ptB1, const PbdParticleId& ptB2,
        double stiffnessA, double stiffnessB);

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