imstkSphObjectCollision.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 "imstkSphObjectCollision.h"
#include "imstkCDObjectFactory.h"
#include "imstkCollisionData.h"
#include "imstkImplicitGeometryToPointSetCD.h"
#include "imstkSphCollisionHandling.h"
#include "imstkSphModel.h"
#include "imstkSphObject.h"
#include "imstkTaskGraph.h"

namespace imstk
{
// Pbd Collision will be tested before any step of pbd, then resolved after the solve steps of the two objects
SphObjectCollision::SphObjectCollision(std::shared_ptr<SphObject> obj1, std::shared_ptr<CollidingObject> obj2,
                                       std::string cdType) :
    CollisionInteraction("SphObjectCollision_" + obj1->getName() + "_vs_" + obj2->getName(), obj1, obj2, cdType)
{
    // Setup the handler
    std::shared_ptr<SphCollisionHandling> ch = std::make_shared<SphCollisionHandling>();
    ch->setInputObjectA(obj1);
    ch->setInputCollisionData(m_colDetect->getCollisionData());
    ch->setDetection(m_colDetect);
    setCollisionHandlingA(ch);

    // Collision should happen after positions and velocities are computed
    m_taskGraph->addNode(obj1->getUpdateGeometryNode());
    m_taskGraph->addNode(obj2->getUpdateGeometryNode());

    m_taskGraph->addNode(obj1->getTaskGraph()->getSink());
    m_taskGraph->addNode(obj2->getTaskGraph()->getSink());
}

void
SphObjectCollision::initGraphEdges(std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink)
{
    CollisionInteraction::initGraphEdges(source, sink);

    auto sphObj1 = std::dynamic_pointer_cast<SphObject>(m_objA);

    //
    // ...Sph steps...
    // Update Geometry A                  Update Geometry B
    //                 Collision Detection
    //                 Collision Handling A
    //    objA Sink                          objB Sink
    //
    m_taskGraph->addEdge(sphObj1->getUpdateGeometryNode(), m_collisionDetectionNode);
    m_taskGraph->addEdge(m_objB->getUpdateGeometryNode(), m_collisionDetectionNode);

    m_taskGraph->addEdge(m_collisionDetectionNode, m_collisionHandleANode);

    m_taskGraph->addEdge(m_collisionHandleANode, sphObj1->getTaskGraph()->getSink());
    m_taskGraph->addEdge(m_collisionHandleANode, m_objB->getTaskGraph()->getSink());
}
} // namespace imstk