TAPsModelSurgicalSutureWithHeadNeedle.hpp

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/******************************************************************************
TAPsModelSurgicalSutureWithHeadNeedle.hpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (07/22/2010)
UPDATE          (01/20/2010)
******************************************************************************/
#ifndef TAPs_MODEL_SURGICAL_SUTURE_WITH_HEAD_NEEDLE_HPP
#define TAPs_MODEL_SURGICAL_SUTURE_WITH_HEAD_NEEDLE_HPP

#include "../Model/RigidBodies/TAPsRigidBodyDynamics.hpp"
#include "TAPsModelSurgicalSutureThread.hpp"

// For collision detection
#include "Support/TAPsModelSurgicalSutureWithHeadNeedle_CD.hpp"

// For hiding the suture's head needle
#ifdef  TAPs_ADD_MODEL_DISABLE_OPTIONS
#endif//TAPs_ADD_MODEL_DISABLE_OPTIONS

BEGIN_NAMESPACE_TAPs
//=============================================================================
template <typename T>
class ModelSurgicalSutureWithHeadNeedle : public ModelSurgicalSutureThread<T> {
//=============================================================================
public:

    class CirclePath {
    public:
        
        CirclePath () {}
        ~CirclePath () {
            //if ( pCDSphereNode ) delete pCDSphereNode;
        }

        void Clear () { pListOfCDNodes.clear(); }

        T           Radius;
        Vector3<T>  Center;
        Vector3<T>  SharpPt;        
        Vector3<T>  EndPt;          
        T           CoverAngle;     
        T           LinkLenAngle;   
        Vector3<T>  NormalPlane;
        std::vector< Vector3<T> > InterpolatedPts;              
        unsigned int    IDOfFirstInterpolatedPtBeforeSharpPt;   

        //BVHNode<T> * pCDSphereNode;

        TransformationSupport<T> Trx;
        std::vector< BVHNode<T> * > pListOfCDNodes;
    };

    // Member Functions -------------------------------------------------------
    friend std::ostream & operator<< ( std::ostream &output, ModelSurgicalSutureWithHeadNeedle<T> const &obj )
    {
        output << obj.StrInfo();
        return output;
    }
    //-------------------------------------------------------------------------
    ModelSurgicalSutureWithHeadNeedle (
        int iNoLinks,               
        T tRadius,                  
        T tTotalLength,             
        T tTotalMass,               
        Vector3<T> & posOfVertex0 = Vector3<T>(),   
        ShapeInitializationParameters ShapeParameters = ShapeInitializationParameters(),    
        std::string * pHeadNeedleFile = NULL,   
        int iNoInteractionPts = 1,  
        T   tScaleForExtendedSharpPoint = 1     


    );
    //ModelSurgicalSutureWithHeadNeedle ( ModelSurgicalSutureWithHeadNeedle<T> const &orig );
    virtual ~ModelSurgicalSutureWithHeadNeedle ();
    //-------------------------------------------------------------------------
    virtual std::string StrInfo () const;
    //-------------------------------------------------------------------------
    // Overide functions from ModelElasticRod
    inline void SetGravitationalConstant ( T k )    { m_Parameters.Kgravity = -k; GetHeadNeedle().SetPhyPropGravitationalConstant( k ); }
#ifdef  TAPs_ADD_RESTING_LEVEL_Y

    inline virtual void SetRestingLevel ( T y ) { ModelSurgicalSutureThread<T>::SetRestingLevel( y ); GetHeadNeedle().SetPhyPropRestingLevel( y ); }
#endif//TAPs_ADD_RESTING_LEVEL_Y
    //-------------------------------------------------------------------------
    RigidBodyDynamics<T> const &    GetHeadNeedle () const  { return *m_pHeadNeedle; }
    RigidBodyDynamics<T> &          GetHeadNeedle ()        { return *m_pHeadNeedle; }
    OpenGL::HalfEdgeModel<T> const &    GetHeadNeedleAsHalfEdgeModel () const   { return *m_pHeadNeedle_asHalfEdgeModel; }
    OpenGL::HalfEdgeModel<T> &          GetHeadNeedleAsHalfEdgeModel ()         { return *m_pHeadNeedle_asHalfEdgeModel; }
    //-------------------------------------------------------------------------

    virtual void    Reset ();

    CirclePath const &  RefToHeadNeedleCirclePathCtrl () const  { return m_HeadNeedleCirclePath; }
    CirclePath &        RefToHeadNeedleCirclePathCtrl ()        { return m_HeadNeedleCirclePath; }

    virtual void    AdvanceSimulation ();

    virtual int FindTheClosestPointToPoint ( 
        Vector3<T> const & closeToPoint,    
        T distance_limit                    
    ) const;

    inline bool IsPointID_SutureThread ( int id ) const;

    inline bool IsPointID_HeadNeedle ( int id ) const;

    inline int GetTotalPoints() const   { return m_iTotalPoints; }

    inline Vector3<T> GetPositionOfHeadNeedleSharpPoint () const;

    inline Vector3<T> GetPositionOfPointNumberIonHeadNeedle ( unsigned int i ) const;

    inline void GetTwoPointsInWorldSpaceFormingLineExtendedFromHeadNeedleSharpPoint ( Vector3<T> & sharpPt, Vector3<T> & extendedPt ) const;

    inline void GetTwoInteractionPointPositionsInWorldSpace ( unsigned int i, unsigned int j, Vector3<T> & iPoint, Vector3<T> & jPoint ) const;

    inline std::vector< Vector3<T> > GetAllInteractionPointPositionsInWorldSpace () const;

    inline virtual bool PickAt (
        Vector3<T> const & closeToPoint,    
        T distance_limit,                   
        int & pickedID                      
    );

    inline virtual void PickPoint (
        int pickedID            
    );

    inline virtual void MovePickedPoint (
        int pickedID,           
        Vector3<T> & position   
    );

    inline virtual void UnpickPoint (
        int pickedID            
    );

    inline virtual void UnpickAllPoints ();

#ifdef  TAPs_ADD_MODEL_DISABLE_OPTIONS

    void DisableHeadNeedle ()   { m_bDisableHeadNeedle = true; }
    void EnableHeadNeedle ()    { m_bDisableHeadNeedle = false; }

    bool IsHeadNeedleDisabled () const  { return m_bDisableHeadNeedle; }
#endif//TAPs_ADD_MODEL_DISABLE_OPTIONS

    bool IsHeadNeedleBeingGrabbed ()    { return m_iHeadNeedleIPtSimFlagSetCount > 0; }

    bool IsHeadNeedlePositionLocked () const    { return GetHeadNeedle().IsPositionLocked(); }
    void LockHeadNeedlePosition ()  { GetHeadNeedle().LockPosition(); }
    void UnlockHeadNeedlePosition ()    { GetHeadNeedle().UnlockPosition(); }

    inline void SetHeadNeedlePosition ( Vector3<T> const & position );
    inline void SetHeadNeedleOrientation ( Quaternion<T> const & orientation );

    bool GetConstraintStatusOfInteractionPoint ( unsigned int i )
    { assert( i < m_vbIsConstrained.size() ); return m_vbIsConstrained[i]; }

    bool SetConstraintStatusOfInteractionPoint ( unsigned int i, bool b )
    { assert( i < m_vbIsConstrained.size() ); m_vbIsConstrained[i] = b; }

    //-------------------------------------------------------------------------
    // Collision Detection

    BVHTree<T> * GetBVHTree_HeadNeedle ()   { return m_CDUnit_HeadNeedle.GetBVHTree(); }

    inline void ClearAllExternalForcesAndTorques ();

    //-------------------------------------------------------------------------
    // Data Members -----------------------------------------------------------
//=============================================================================
protected:
    // Member Functions -------------------------------------------------------

    inline void CoupleHeadNeedleOrienAndPosWithSutureThreadOrienAndPos ();

    inline void SetSutureThreadOrienAndPosToFollowHeadNeedle ();

    void CleanUp ();

    bool CDRofThreadwithNeedle ();

    // Data Members -----------------------------------------------------------
    RigidBodyDynamics<T> *      m_pHeadNeedle;                  
    OpenGL::HalfEdgeModel<T> *  m_pHeadNeedle_asHalfEdgeModel;  
    InteractionPoint<T> *       m_pNeedleSharpPt;               
    InteractionPoint<T> *       m_pNeedleSutureConnectingPt;    
    int m_iTotalPoints; 
    int m_iHeadNeedleIPtSimFlagSetCount;    

    bool m_bHeadNeedlePositionLocked;   

    CirclePath  m_HeadNeedleCirclePath; 

    // For puncturing
    Vector3<T>  m_ExtendedHeadNeedleSharpPtPos; 
    std::vector<bool>   m_vbIsConstrained;      

    ModelSurgicalSutureWithHeadNeedle_CD<T> m_CDUnit_HeadNeedle;    

    bool    m_bDisableHeadNeedle;   
//=============================================================================
private:
    // Member Functions -------------------------------------------------------
    void FindAndAddNeedleSharpPtAndSutureConnectionPt ();

    void SetHeadNeedleInteractionPointsRadii ();

    void SetExtendedHeadNeedleSharpPt ( T scaleForExtendedSharpPoint );

    void InitHeadNeedleCirclePath ();

    // Data Members -----------------------------------------------------------
//=============================================================================

#if defined(__gl_h_) || defined(__GL_H__)
public:
    virtual void Draw ();

    virtual void DrawOnlyHeadNeedle ();

    virtual void DrawOnlySutureThread ();

    virtual void DrawForDebugging ();

    virtual void DrawClue_GrabbingLocation ();

    virtual void DrawClue_CirclePath ();
#endif

//=============================================================================
}; // END CLASS ModelSurgicalSutureWithHeadNeedle
//=============================================================================
END_NAMESPACE_TAPs
//-----------------------------------------------------------------------------
#include "TAPsModelSurgicalSutureWithHeadNeedle.cpp"

// Include definition if TAPs_USE_EXPORT is not defined
//#if !defined( TAPs_USE_EXPORT )
//  #include "TAPsModelSurgicalSutureWithHeadNeedle.cpp"
//#endif
//-----------------------------------------------------------------------------
#endif
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