imstkDynamicObject.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 "imstkCollidingObject.h"

namespace imstk
{
class Geometry;
class GeometryMap;
class AbstractDynamicalModel;

class DynamicObject : public CollidingObject
{
public:
    ~DynamicObject() override = default;

    std::shared_ptr<Geometry> getPhysicsGeometry() const { return m_physicsGeometry; }
    virtual void setPhysicsGeometry(std::shared_ptr<Geometry> geometry) { m_physicsGeometry = geometry; }

    std::shared_ptr<GeometryMap> getPhysicsToCollidingMap() const { return m_physicsToCollidingGeomMap; }
    void setPhysicsToCollidingMap(std::shared_ptr<GeometryMap> map) { m_physicsToCollidingGeomMap = map; }

    std::shared_ptr<GeometryMap> getPhysicsToVisualMap() const { return m_physicsToVisualGeomMap; }
    void setPhysicsToVisualMap(std::shared_ptr<GeometryMap> map) { m_physicsToVisualGeomMap = map; }

    virtual std::shared_ptr<AbstractDynamicalModel> getDynamicalModel() const { return m_dynamicalModel; }
    virtual void setDynamicalModel(std::shared_ptr<AbstractDynamicalModel> dynaModel) { m_dynamicalModel = dynaModel; }

    size_t getNumOfDOF() const;

    void updateGeometries() final;

    virtual void updatePhysicsGeometry();

    bool initialize() override;

    void reset() override;

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

    void postModifiedAll() override;

    DynamicObject(const std::string& name) : CollidingObject(name) { }

    std::shared_ptr<AbstractDynamicalModel> m_dynamicalModel = nullptr; 
    std::shared_ptr<Geometry> m_physicsGeometry = nullptr;              

    // Maps
    std::shared_ptr<GeometryMap> m_physicsToCollidingGeomMap = nullptr; 
    std::shared_ptr<GeometryMap> m_physicsToVisualGeomMap    = nullptr; 
};
} // namespace imstk