COMP: Makes PbdConstraint abstract base class

Make PbdConstraint abstract base class with solvePositionConstraint to be implemted in base class

Base/Constraint/PbdConstraints/imstkPbdAreaConstraint.h

@@ -38,7 +38,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    PbdAreaConstraint() : PbdConstraint(3) {}
+    PbdAreaConstraint() : PbdConstraint() { m_vertexIds.resize(3); }
 
     ///
     /// \brief Returns PBD constraint of type Type::Area

Base/Constraint/PbdConstraints/imstkPbdConstraint.h

@@ -54,7 +54,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    PbdConstraint(const unsigned int cardinality) { m_vertexIds.resize(cardinality); }
+    PbdConstraint() = default;
 
     ///
     /// \brief abstract interface to know the type of constraint
@@ -66,6 +66,7 @@ public:
     /// \brief update constraint
     /// \param model \class PbdModel
     /// \return true if succeeded
+    /// TODO: Remove this or implement for child classes in future
     ///
     virtual bool updateConstraint(PbdModel& model)
     {
@@ -77,15 +78,13 @@ public:
     /// \param model \class PbdModel
     /// \return true if succeeded
     ///
-    virtual bool solvePositionConstraint(PbdModel& model)
-    {
-        return true;
-    }
+    virtual bool solvePositionConstraint(PbdModel& model) = 0;
 
     ///
     /// \brief compute delta velocity, specifically for rigid bodies
     /// \param model \class PbdModel
     /// \return true if succeeded
+    /// TODO: Remove this or implement for child classes in future
     ///
     virtual bool solveVelocityConstraint(PbdModel& model)
     {
@@ -93,7 +92,7 @@ public:
     }
 
 public:
-    std::vector<size_t> m_vertexIds; // index of points for the constraint
+    std::vector<size_t> m_vertexIds; ///> index of points for the constraint
 };
 
 }

Base/Constraint/PbdConstraints/imstkPbdDihedralConstraint.h

@@ -38,7 +38,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    PbdDihedralConstraint() : PbdConstraint(4) {}
+    PbdDihedralConstraint() : PbdConstraint()  { m_vertexIds.resize(4); }
 
     ///
     /// \brief Returns PBD constraint of type Type::Dihedral

Base/Constraint/PbdConstraints/imstkPbdDistanceConstraint.h

@@ -38,7 +38,7 @@ public:
     ///
     /// \brief Constructor
     ///
-    PbdDistanceConstraint() : PbdConstraint(2) {}
+    PbdDistanceConstraint() : PbdConstraint()  { m_vertexIds.resize(2); }
 
     ///
     /// \brief Returns PBD constraint of type Type::Distance

Base/Constraint/PbdConstraints/imstkPbdFEMConstraint.h

@@ -51,7 +51,10 @@ public:
     /// \brief Constructor
     ///
     explicit PbdFEMConstraint(const unsigned int cardinality, MaterialType mtype = MaterialType::StVK) :
-        PbdConstraint(cardinality), m_material(mtype) {}
+        PbdConstraint(), m_material(mtype)
+    {
+        m_vertexIds.resize(cardinality);
+    }
 
 public:
     double m_elementVolume;     ///> Volume of the element

Base/Constraint/PbdConstraints/imstkPbdVolumeConstraint.h

@@ -38,7 +38,7 @@ public:
     ///
     /// \brief constructor
     ///
-    PbdVolumeConstraint() : PbdConstraint(4) {}
+    PbdVolumeConstraint() : PbdConstraint() { m_vertexIds.resize(4); }
 
     ///
     /// \brief Returns PBD constraint of type Type::Volume