imstkPbdObjectStitching.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 "imstkMacros.h"
#include "imstkMath.h"
#include "imstkPbdCollisionConstraint.h"
#include "imstkSceneObject.h"

#include <unordered_map>

namespace imstk
{
class PbdBaryPointToPointConstraint;
class PbdObject;
class PickingAlgorithm;
class PointwiseMap;

class PbdObjectStitching : public SceneObject
{
public:
    PbdObjectStitching(std::shared_ptr<PbdObject> obj1);
    ~PbdObjectStitching() override = default;

    IMSTK_TYPE_NAME(PbdObjectStitching)

    
    void setStiffness(const double stiffness) { m_stiffness = stiffness; }
    double getStiffness() const { return m_stiffness; }

    void setStitchDistance(const double distance) { m_maxStitchDist = distance; }
    double getStitchDistance() const { return m_maxStitchDist; }

    void beginStitch(const Vec3d& rayStart, const Vec3d& rayDir, const double maxDist = -1.0);

    void addStitchConstraints();

    void removeStitchConstraints();

    virtual void addConstraint(
        const std::vector<PbdParticleId>& ptsA,
        const std::vector<double>& weightsA,
        const std::vector<PbdParticleId>& ptsB,
        const std::vector<double>& weightsB,
        const double stiffnessA, const double stiffnessB);

    void setPickingAlgorithm(std::shared_ptr<PickingAlgorithm> pickMethod) { m_pickMethod = pickMethod; }
    std::shared_ptr<PickingAlgorithm> getPickingAlgorithm() const { return m_pickMethod; }

    void setGeometryToStitch(std::shared_ptr<Geometry> geomToStitch, std::shared_ptr<PointwiseMap> map)
    {
        m_geomToStitch = geomToStitch;
        m_geometryToStitchMap = map;
    }

    std::shared_ptr<TaskNode> getPickingNode() const { return m_stitchingNode; }

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

protected:
    virtual void updateStitching();

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

    std::shared_ptr<Geometry>     m_geomToStitch = nullptr;
    std::shared_ptr<PointwiseMap> m_geometryToStitchMap = nullptr;

    std::shared_ptr<PbdObject> m_objectToStitch = nullptr;

    std::shared_ptr<PickingAlgorithm> m_pickMethod = nullptr;

    bool m_performStitch = false;

    double m_stiffness     = 0.1;
    double m_maxStitchDist = -1.0;                                             // Set a maximum distance for which a stitch can be placed

    std::vector<std::shared_ptr<PbdBaryPointToPointConstraint>> m_constraints; 

private:
    std::vector<PbdConstraint*> m_collisionConstraints;
};
} // namespace imstk