imstkCollisionDataDebugModel.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 "imstkCollisionData.h"
#include "imstkDebugGeometryModel.h"

namespace imstk
{
class CollisionDataDebugModel : public DebugGeometryModel
{
public:
    CollisionDataDebugModel() : DebugGeometryModel() { }
    ~CollisionDataDebugModel() override = default;

    void addCollisionElement(std::shared_ptr<PointSet> pointSet, const CollisionElement& elem);

    void printContactInfo(const CollisionElement& elem);

    void debugUpdate();

    void setInputCD(std::shared_ptr<CollisionData> cdData) { m_cdData = cdData; }
    std::shared_ptr<CollisionData> getInputCD() const { return m_cdData; }

    void setPrintContacts(const bool printContacts) { m_printContacts = printContacts; }
    bool getPrintContacts() const { return m_printContacts; }

    void setClearRate(const int clearRate) { m_clearRate = clearRate; }
    int getClearRate() const { return m_clearRate; }

    void setCountEmptyFrames(const bool countEmptyFrames) { m_countEmptyFrames = countEmptyFrames; }
    int getCountEmptyFrames() const { return m_countEmptyFrames; }

protected:
    std::shared_ptr<CollisionData> m_cdData = nullptr;
    bool m_printContacts    = false;
    int  m_clearRate        = 1;
    int  m_frameCounter     = 0;
    bool m_countEmptyFrames = true;
};
} // namespace imstk