imstkPbdObjectCollision.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 "imstkCollisionInteraction.h"
#include "imstkMacros.h"

namespace imstk
{
class PbdObject;

class PbdObjectCollision : public CollisionInteraction
{
public:
    PbdObjectCollision(std::shared_ptr<PbdObject> obj1, std::shared_ptr<CollidingObject> obj2,
                       std::string cdType = "");

    ~PbdObjectCollision() override = default;

    IMSTK_TYPE_NAME(PbdObjectCollision)

    
    void setRestitution(const double restitution);
    double getRestitution() const;

    void setFriction(const double friction);
    double getFriction() const;

    bool getUseCorrectVelocity() const;
    void setUseCorrectVelocity(const bool useCorrectVelocity);

    void setRigidBodyCompliance(const double compliance);
    double getRigidBodyCompliance() const;

    void setDeformableStiffnessA(const double stiffness);
    double getDeformableStiffnessA() const;
    void setDeformableStiffnessB(const double stiffness);
    double getDeformableStiffnessB() const;

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

protected:
    std::shared_ptr<TaskNode> m_updatePrevGeometryCCDNode = nullptr;

private:
    void setupConnections(std::shared_ptr<PbdObject> obj1, std::shared_ptr<CollidingObject> obj2,
                          std::string cdType = "");
};
} // namespace imstk