iMSTK: NeedleEmbedder Class Reference

Implements PBD embedded tissue handling for when the needle is embedded in the tissue. More...

Collaboration diagram for NeedleEmbedder:

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Public Member Functions
void	setTissueObject (std::shared_ptr< PbdObject > tissueObject)

std::shared_ptr< PbdObject >	getTissueObject () const

void	setNeedleObject (std::shared_ptr< PbdObject > needleObject)

std::shared_ptr< PbdObject >	getNeedleObject () const

void	setCollisionData (std::shared_ptr< CollisionData > cdData)

void	setCollisionHandleNode (std::shared_ptr< TaskNode > pbdCHNode)

void	setFriction (const double friction)

double	getFriction () const

void	setCompliance (const double compliance)

double	getCompliance () const

void	setStaticFrictionForceThreshold (const double force)

const double	getStaticFrictionForceThreshold () const

void	setPunctureForceThreshold (const double forceThreshold)

const double	getPunctureForceThreshold () const

void	update ()
	Add embedding constraints based off contact data We need to add the constraint once and then update it later.

Public Attributes
std::vector< Vec3d >	m_debugEmbeddingPoints
	Used for debug visualization.

std::vector< Vec3i >	m_debugEmbeddedTriangles

Protected Member Functions
virtual void	addFaceEmbeddingConstraint (TissueData &tissueData, NeedleData &needleData, int v1, int v2, int v3, const Vec3d &iPt)
	Adds embedding constraint (ie: The constraint maintained after puncture)

Protected Attributes
std::shared_ptr< PbdObject >	m_tissueObject = nullptr

std::shared_ptr< PbdObject >	m_needleObject = nullptr

std::shared_ptr< TaskNode >	m_pbdCHNode = nullptr

std::shared_ptr< CollisionData >	m_cdData = nullptr

std::unordered_map< TriCell, std::shared_ptr< EmbeddingConstraint > >	m_faceConstraints

std::vector< PbdConstraint * >	m_constraints
	List of PBD constraints.

double	m_friction = 0.0
	Coefficient of friction (1.0 = full frictional force, 0.0 = none)

double	m_compliance = 0.000001

double	m_staticFrictionForceThreshold = 0.0

double	m_forceThreshold = 10.0

VecDataArray< double, 3 >	tissuePrevVertices

VecDataArray< double, 3 >	needlePrevVertices

Detailed Description

Implements PBD embedded tissue handling for when the needle is embedded in the tissue.

Definition at line 62 of file NeedleEmbedder.h.

The documentation for this class was generated from the following files: