imstkInternalForceModel.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 "imstkMath.h"
#include "imstkInternalForceModelTypes.h"

#ifdef WIN32
#pragma warning( push )
#pragma warning( disable : 4458 )
#pragma warning( disable : 4100 )
#endif
#include <forceModel.h>
#ifdef WIN32
#pragma warning( pop )
#endif

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

    virtual void getInternalForce(const Vectord& u, Vectord& internalForce) = 0;

    virtual void getTangentStiffnessMatrix(const Vectord& u, SparseMatrixd& tangentStiffnessMatrix) = 0;

    virtual void getTangentStiffnessMatrixTopology(vega::SparseMatrix** tangentStiffnessMatrix) = 0;

    virtual void getForceAndMatrix(const Vectord& u, Vectord& internalForce, SparseMatrixd& tangentStiffnessMatrix);

    static void updateValuesFromMatrix(std::shared_ptr<vega::SparseMatrix> vegaMatrix, double* values);

    virtual void setTangentStiffness(std::shared_ptr<vega::SparseMatrix> K) = 0;
};
} // namespace imstk