imstkPbdConnectiveTissueConstraintGenerator.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 "imstkPbdConstraintFunctor.h"
#include "imstkMath.h"

#include <unordered_map>

namespace imstk
{
class PbdObject;
class PbdConstraintContainer;
class PbdBaryPointToPointConstraint;
class PbdModel;
class ProximitySurfaceSelector;


class PbdConnectiveTissueConstraintGenerator : public PbdBodyConstraintFunctor
{
public:
    PbdConnectiveTissueConstraintGenerator() = default;
    ~PbdConnectiveTissueConstraintGenerator() override = default;

    void setConnectiveStrandObj(std::shared_ptr<PbdObject> connectiveStrandObj) { m_connectiveStrandObj = connectiveStrandObj; }

    void generateDistanceConstraints();

    void setConnectedObjA(std::shared_ptr<PbdObject> objA) { m_objA = objA; }

    void setConnectedObjB(std::shared_ptr<PbdObject> objB) { m_objB = objB; }

    void operator()(PbdConstraintContainer& constraints) override;

    void setDistStiffness(double stiffness) { m_distStiffness = stiffness; }
    double getDistStiffness() { return m_distStiffness; }

    void setTolerance(double tolerance) { m_tolerance = tolerance; }
    double getTolerance() { return m_tolerance; }

protected:

    void connectLineToTetMesh(
        std::shared_ptr<PbdObject> pbdObj,
        PbdConstraintContainer&    constraints);

    void connectLineToSurfMesh(
        std::shared_ptr<PbdObject> pbdObj,
        PbdConstraintContainer&    constraints);

    std::shared_ptr<PbdObject> m_connectiveStrandObj = nullptr; 
    std::shared_ptr<PbdObject> m_objA = nullptr;                
    std::shared_ptr<PbdObject> m_objB = nullptr;                

    double m_distStiffness = 50.0;                              
    double m_tolerance     = 0.00001;                           
};

std::shared_ptr<PbdObject> addConnectiveTissueConstraints(
    std::shared_ptr<LineMesh>  connectiveLineMesh,
    std::shared_ptr<PbdObject> objA,
    std::shared_ptr<PbdObject> objB,
    std::shared_ptr<PbdModel>  model,
    double                     mass = 0.005,
    double                     distStiffness = 10000000000);


std::shared_ptr<PbdObject> makeConnectiveTissue(
    std::shared_ptr<PbdObject>                objA,
    std::shared_ptr<PbdObject>                objB,
    std::shared_ptr<PbdModel>                 model,
    double                                    maxDist,
    double                                    strandsPerFace,
    int                                       segmentsPerStrand,
    std::shared_ptr<ProximitySurfaceSelector> selector,
    double                                    mass,
    double                                    distStiffness,
    double                                    allowedAngleDeviation);

std::shared_ptr<PbdObject> makeConnectiveTissue(
    std::shared_ptr<PbdObject> objA,
    std::shared_ptr<PbdObject> objB,
    std::shared_ptr<PbdModel>  model,
    double                     maxDist = 0.0,
    double                     strandsPerFace    = 1,
    int                        segmentsPerStrand = 3,
    double                     mass = 0.005,
    double                     distStiffness = 1.0e10,
    double                     allowedAngleDeviation = PI);
} // namespace imstk