imstkPbdPointTriangleConstraint.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 PbdPointTriangleConstraint : public PbdCollisionConstraint
{
public:
    PbdPointTriangleConstraint() : PbdCollisionConstraint(1, 3) { }
    ~PbdPointTriangleConstraint() override = default;

    IMSTK_TYPE_NAME(PbdTriangleConstraint)

public:
    void initConstraint(const PbdParticleId& ptA,
                        const PbdParticleId& ptB1, const PbdParticleId& ptB2, const PbdParticleId& ptB3,
                        double stiffnessA, double stiffnessB);

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