imstkNeedleInteraction.cpp

/*
** 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.
*/

#include "imstkNeedleInteraction.h"
#include "imstkCollisionDetectionAlgorithm.h"
#include "imstkLineMesh.h"
#include "imstkNeedle.h"
#include "imstkPbdObject.h"
#include "imstkPuncturable.h"
#include "imstkNeedlePbdCH.h"

namespace imstk
{
NeedleInteraction::NeedleInteraction(std::shared_ptr<PbdObject> tissueObj,
                                     std::shared_ptr<PbdObject> needleObj,
                                     std::shared_ptr<PbdObject> threadObj)
    : PbdObjectCollision(tissueObj, needleObj)
{
    // Check inputs
    CHECK(threadObj != nullptr) << "NeedleInteraction: Thread object cannot be null";
    CHECK(tissueObj != nullptr) << "NeedleInteraction: Tissue object cannot be null";
    CHECK(needleObj != nullptr) << "NeedleInteraction: Needle object cannot be null";

    if (!needleObj->containsComponent<Needle>())
    {
        needleObj->addComponent<Needle>();
        LOG(INFO) << "NeedleInteraction: Needle component added to needle object";
    }

    if (!tissueObj->containsComponent<Puncturable>())
    {
        tissueObj->addComponent<Puncturable>();
        LOG(INFO) << "NeedleInteraction: Puncturable component added to tissue object";
    }

    CHECK(std::dynamic_pointer_cast<SurfaceMesh>(tissueObj->getCollidingGeometry()) != nullptr) <<
        "NeedleInteraction only works with SufraceMesh collision geometry on the tissue object";
    CHECK(std::dynamic_pointer_cast<LineMesh>(needleObj->getCollidingGeometry()) != nullptr) <<
        "NeedleInteraction only works with LineMesh collision geometry on NeedleObject";

    CHECK(threadObj->getPbdModel() == tissueObj->getPbdModel()
        && threadObj->getPbdModel() == needleObj->getPbdModel())
        << "Tissue, thread, and needle must share a PbdModel";

    // Add collision handler for the PBD reaction
    auto needlePbdCH = std::make_shared<NeedlePbdCH>();
    needlePbdCH->setInputObjectA(tissueObj);
    needlePbdCH->setInputObjectB(needleObj);
    needlePbdCH->setInputCollisionData(getCollisionDetection()->getCollisionData());
    needlePbdCH->init(threadObj);
    setCollisionHandlingAB(needlePbdCH);
}

void
NeedleInteraction::stitch()
{
    auto CH = std::dynamic_pointer_cast<NeedlePbdCH>(this->getCollisionHandlingAB());
    CH->stitch();
}

const NeedlePbdCH::PunctureData&
NeedleInteraction::getPunctureData()
{
    auto CH = std::dynamic_pointer_cast<NeedlePbdCH>(this->getCollisionHandlingAB());
    return CH->getPunctureData();
}
} // namespace imstk