imstkPbdObject.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 "imstkDynamicObject.h"
#include "imstkMacros.h"
#include "imstkPbdConstraint.h"

namespace imstk
{
class PbdModel;
class PointSet;

class PbdObject : public DynamicObject
{
public:
    PbdObject(const std::string& name = "PbdObject") : DynamicObject(name) { }
    ~PbdObject() override = default;

    IMSTK_TYPE_NAME(PbdObject)

    
    std::shared_ptr<PbdModel> getPbdModel();

    std::shared_ptr<PbdBody> getPbdBody()
    {
        if (m_pbdBody == nullptr)
        {
            LOG(FATAL) << "Set the PbdModel on the PbdObject before trying to acquire the body";
        }
        return m_pbdBody;
    }

    void setDynamicalModel(std::shared_ptr<AbstractDynamicalModel> dynaModel) override;

    void updatePhysicsGeometry() override;

    void setBodyFromGeometry();

    bool initialize() override;

    void computeCellConstraintMap();

    const std::vector<std::shared_ptr<PbdConstraint>>& getCellConstraints(int cellId)
    {
        return m_pbdBody->cellConstraintMap[cellId];
    }

protected:
    void setDeformBodyFromGeometry(PbdBody& body, std::shared_ptr<PointSet> geom);

    void setRigidBody(PbdBody& body);

protected:
    std::shared_ptr<PbdModel> m_pbdModel = nullptr; 
    std::shared_ptr<PbdBody>  m_pbdBody  = nullptr; 
};
} // namespace imstk