imstkAbstractDynamicalModel.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 "imstkGeometry.h"

#include <set>

namespace imstk
{
class TaskGraph;
class TaskNode;

enum class DynamicalModelType
{
    RigidBodyDynamics,
    ElastoDynamics,
    PositionBasedDynamics,
    SmoothedParticleHydrodynamics,
    Physiology,
    None
};

enum class TimeSteppingType
{
    RealTime,
    Fixed
};

class AbstractDynamicalModel
{
public:
    enum class StateUpdateType
    {
        Displacement,
        Velocity,
        DeltaDisplacement,
        DeltaVelocity,
        None
    };

protected:
    AbstractDynamicalModel(DynamicalModelType type = DynamicalModelType::None);

public:
    virtual ~AbstractDynamicalModel() = default;

    virtual void resetToInitialState() = 0;

    std::size_t getNumDegreeOfFreedom() const { return m_numDof; }
    void setNumDegreeOfFreedom(const size_t nDof) { m_numDof = nDof; }

    std::shared_ptr<TaskGraph> getTaskGraph() const { return m_taskGraph; }

    const DynamicalModelType& getType() const { return m_type; }

    virtual void updatePhysicsGeometry() { }

    virtual void setTimeStep(const double timeStep) = 0;

    void setModelGeometry(std::shared_ptr<Geometry> geometry);

    bool isGeometryValid(const std::shared_ptr<Geometry> geometry);

    std::shared_ptr<Geometry> getModelGeometry() const { return m_geometry; }

    virtual double getTimeStep() const = 0;

    virtual bool initialize() = 0;

    void initGraphEdges();

    virtual void setTimeStepSizeType(const TimeSteppingType type) { m_timeStepSizeType = type; }
    TimeSteppingType getTimeStepSizeType() const { return m_timeStepSizeType; }

protected:
    virtual void initGraphEdges(std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink);

    DynamicalModelType m_type;                      

    std::size_t m_numDof;                           

    std::shared_ptr<Geometry> m_geometry = nullptr; 
    std::set<std::string>     m_validGeometryTypes; 

    TimeSteppingType m_timeStepSizeType = TimeSteppingType::Fixed;

    std::shared_ptr<TaskGraph> m_taskGraph = nullptr;
};
} // namespace imstk