/*=========================================================================

Library: iMSTK

Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
& Imaging in Medicine, Rensselaer Polytechnic Institute.

Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at

http://www.apache.org/licenses/LICENSE-2.0.txt

Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

=========================================================================*/

#pragma once

#include "imstkCollisionInteraction.h"

namespace imstk
{
class PbdObject;
class RigidObject2;

///
/// \class PbdRigidObjectCollision
///
/// \brief This class defines a collision interaction between a first order PbdObject
/// and second order RigidObject2. This will induce response in both models.
///
class PbdRigidObjectCollision : public CollisionInteraction
{
public:
    ///
    /// \brief Constructor for PbdObject-PbdObject or PbdObject-CollidingObject collisions
    ///
    PbdRigidObjectCollision(std::shared_ptr<PbdObject> obj1, std::shared_ptr<RigidObject2> obj2,
                            std::string cdType = "MeshToMeshBruteForceCD");

    virtual ~PbdRigidObjectCollision() override = default;

    virtual const std::string getTypeName() const override { return "PbdRigidObjectCollision"; }

    void setRestitution(const double restitution);
    const double getRestitution() const;

    void setFriction(const double friction);
    const double getFriction() const;

    ///
    /// \brief Setup connectivity of task graph
    ///
    virtual void initGraphEdges(std::shared_ptr<TaskNode> source, std::shared_ptr<TaskNode> sink) override;

protected:
    std::shared_ptr<TaskNode> m_pbdCollisionSolveNode = nullptr;
    std::shared_ptr<TaskNode> m_correctVelocitiesNode = nullptr;
};
}