REFAC: Removed unused handler

Source/CollisionHandling/imstkPickingCH.cpp

-///*=========================================================================
-//
-//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.
-//
-//=========================================================================*/
-//
-//#include "imstkPickingCH.h"
-//#include "imstkCollisionData.h"
-//#include "imstkFeDeformableObject.h"
-//#include "imstkFEMDeformableBodyModel.h"
-//#include "imstkLinearProjectionConstraint.h"
-//#include "imstkPointSet.h"
-//#include "imstkTimeIntegrator.h"
-//
-//namespace imstk
-//{
-//PickingCH::PickingCH(const CollisionHandling::Side&       side,
-//                     const std::shared_ptr<CollisionData> colData,
-//                     std::shared_ptr<FeDeformableObject>  obj) :
-//    CollisionHandling(Type::NodalPicking, side, colData),
-//    m_object(obj)
-//{
-//}
-//
-//void
-//PickingCH::processCollisionData()
-//{
-//    CHECK(m_object != nullptr) << "PickingCH::handleCollision error: "
-//                               << "no picking collision handling available the object";
-//
-//    this->addPickConstraints(m_object);
-//}
-//
-//void
-//PickingCH::addPickConstraints(std::shared_ptr<FeDeformableObject> deformableObj)
-//{
-//    m_DynamicLinearProjConstraints->clear();
-//
-//    if (m_colData->NodePickData.isEmpty())
-//    {
-//        return;
-//    }
-//
-//    CHECK(deformableObj != nullptr) << "PenaltyRigidCH::addPickConstraints error: "
-//                                    << " not a deformable object.";
-//
-//    std::shared_ptr<FEMDeformableBodyModel> model = deformableObj->getFEMModel();
-//    const Vectord&                          Uprev = model->getCurrentState()->getQ();
-//    const Vectord&                          Vprev = model->getCurrentState()->getQDot();
-//
-//    auto PhysTetMesh = std::dynamic_pointer_cast<PointSet>(deformableObj->getPhysicsGeometry());
-//    auto dT = std::dynamic_pointer_cast<FEMDeformableBodyModel>(m_object->getDynamicalModel())->getTimeIntegrator()->getTimestepSize();
-//
-//    // If collision data, append LPC constraints
-//    ParallelUtils::SpinLock lock;
-//    ParallelUtils::parallelFor(m_colData->NodePickData.getSize(),
-//        [&](const size_t idx) {
-//            const auto& cd     = m_colData->NodePickData[idx];
-//            const auto nodeDof = static_cast<Eigen::Index>(3 * cd.nodeIdx);
-//            const auto vprev   = Vec3d(Vprev(nodeDof), Vprev(nodeDof + 1), Vprev(nodeDof + 2));
-//            const auto uprev   = Vec3d(Uprev(nodeDof), Uprev(nodeDof + 1), Uprev(nodeDof + 2));
-//            const auto x       = (cd.ptPos + PhysTetMesh->getVertexPosition(cd.nodeIdx) -
-//                                  PhysTetMesh->getInitialVertexPosition(cd.nodeIdx) - uprev) / dT - vprev;
-//
-//            auto pickProjector = LinearProjectionConstraint(cd.nodeIdx, true);
-//            pickProjector.setProjectorToDirichlet(static_cast<unsigned int>(cd.nodeIdx), x);
-//
-//            lock.lock();
-//            m_DynamicLinearProjConstraints->push_back(std::move(pickProjector));
-//            lock.unlock();
-//    });
-//}
-//}
\ No newline at end of file

Source/CollisionHandling/imstkPickingCH.h

-///*=========================================================================
-//
-//   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 "imstkCollisionHandling.h"
-//
-//#include <vector>
-//
-//namespace imstk
-//{
-//class CollidingObject;
-//class FeDeformableObject;
-//class LinearProjectionConstraint;
-//struct CollisionData;
-//
-/////
-///// \class PickingCH
-/////
-///// \brief Implements nodal picking
-/////
-//class PickingCH : public CollisionHandling
-//{
-//public:
-//
-//    ///
-//    /// \brief Constructor
-//    ///
-//    PickingCH(const Side&                          side,
-//              const std::shared_ptr<CollisionData> colData,
-//              std::shared_ptr<FeDeformableObject>  obj);
-//
-//    PickingCH() = delete;
-//
-//    ///
-//    /// \brief Destructor
-//    ///
-//    virtual ~PickingCH() override = default;
-//
-//    ///
-//    /// \brief Compute forces based on collision data
-//    ///
-//    void processCollisionData() override;
-//
-//    ///
-//    /// \brief Add LPC constraints for the node that is picked
-//    ///
-//    void addPickConstraints(std::shared_ptr<FeDeformableObject> deformableObj);
-//
-//    ///
-//    /// \brief Get the vector denoting the filter
-//    ///
-//    void setDynamicLinearProjectors(std::vector<LinearProjectionConstraint>* f)
-//    {
-//        m_DynamicLinearProjConstraints = f;
-//    }
-//
-//    ///
-//    /// \brief Get the vector denoting the filter
-//    ///
-//    std::vector<LinearProjectionConstraint>& getDynamicLinearProjectors()
-//    {
-//        return *m_DynamicLinearProjConstraints;
-//    }
-//
-//private:
-//
-//    std::shared_ptr<FeDeformableObject>      m_object;   ///> Deformable object
-//    std::vector<LinearProjectionConstraint>* m_DynamicLinearProjConstraints = nullptr;
-//};
-//}