imstkPbdFemTetConstraint.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 "imstkPbdFemConstraint.h"

namespace imstk
{
class PbdFemTetConstraint : public PbdFemConstraint
{
public:
    PbdFemTetConstraint(MaterialType mType = MaterialType::StVK) :
        PbdFemConstraint(4, mType) { }

    IMSTK_TYPE_NAME(PbdFemTetConstraint)

    
    bool 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,
        PbdFemConstraintConfig config);

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

    void handleInversions(
        Mat3d& F,
        Mat3d& U,
        Mat3d& Fhat,
        Mat3d& VT
        ) const;

    void setInverstionHandling(const bool handleInversions) { m_handleInversions = handleInversions; }
    bool getInverstionHandling() const { return m_handleInversions; }

    double getRestValue() const { return 0.0; }

private:
    bool m_handleInversions = true;
};
} // namespace imstk