NeedleInteraction.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 "imstkPbdRigidObjectCollision.h"
#include "imstkRigidObject2.h"
#include "imstkStraightNeedle.h"
#include "NeedlePbdCH.h"
#include "NeedleRigidBodyCH.h"

using namespace imstk;

class NeedleInteraction : public PbdRigidObjectCollision
{
public:
    NeedleInteraction(std::shared_ptr<PbdObject>    tissueObj,
                      std::shared_ptr<RigidObject2> needleObj,
                      const std::string&            collisionName = "") : PbdRigidObjectCollision(tissueObj, needleObj, collisionName)
    {
        CHECK(needleObj->containsComponent<StraightNeedle>())
            << "NeedleInteraction only works with objects that have a StraightNeedle component";
        CHECK(tissueObj->containsComponent<Puncturable>())
            << "NeedleInteraction only works with objects that have a Puncturable component";

        auto needleRbdCH = std::make_shared<NeedleRigidBodyCH>();
        needleRbdCH->setInputRigidObjectA(needleObj);
        needleRbdCH->setInputCollidingObjectB(tissueObj);
        needleRbdCH->setInputCollisionData(getCollisionDetection()->getCollisionData());
        needleRbdCH->setBaumgarteStabilization(0.001);
        setCollisionHandlingB(needleRbdCH);

        auto needlePbdCH = std::make_shared<NeedlePbdCH>();
        needlePbdCH->setInputObjectA(tissueObj);
        needlePbdCH->setInputObjectB(needleObj);
        needlePbdCH->setInputCollisionData(getCollisionDetection()->getCollisionData());
        // These two can control compliance
        needlePbdCH->setDeformableStiffnessA(1.0);
        needlePbdCH->setDeformableStiffnessB(0.01);
        setCollisionHandlingA(needlePbdCH);
    }

    ~NeedleInteraction() override = default;
};