ENH: Refactor the contact handling module.

ContactHandling/PenaltyContactFemToStatic.cpp

@@ -29,25 +29,29 @@ PenaltyContactFemToStatic::PenaltyContactFemToStatic(bool typeBilateral) : Penal
     type = ContactHandlingType::PenaltyFemToStatic;
 }
 
+//---------------------------------------------------------------------------
 PenaltyContactFemToStatic::PenaltyContactFemToStatic(
                                                     bool typeBilateral,
                                                     const std::shared_ptr<SceneObject>& sceneObjFirst,
-                                                    const std::shared_ptr<SceneObject>& sceneObjSecond)
+                                                    const std::shared_ptr<SceneObjectDeformable>& sceneObjSecond)
                                                     : PenaltyContactHandling(typeBilateral, sceneObjFirst, sceneObjSecond)
 {
     type = ContactHandlingType::PenaltyFemToStatic;
 }
 
+//---------------------------------------------------------------------------
 PenaltyContactFemToStatic::~PenaltyContactFemToStatic()
 {
 }
 
+//---------------------------------------------------------------------------
 void PenaltyContactFemToStatic::computeUnilateralContactForces()
 {
-    auto femSceneObject = std::static_pointer_cast<VegaFemSceneObject>(this->getSecondSceneObject());
+    auto femSceneObject = std::static_pointer_cast<SceneObjectDeformable>(this->getSecondSceneObject());
     this->computeForces(femSceneObject);
 }
 
+//---------------------------------------------------------------------------
 void PenaltyContactFemToStatic::computeBilateralContactForces()
 {
 }

ContactHandling/PenaltyContactFemToStatic.h

@@ -37,7 +37,7 @@ public:
 
     PenaltyContactFemToStatic(bool typeBilateral,
                              const std::shared_ptr<SceneObject>& sceneObjFirst,
-                             const std::shared_ptr<SceneObject>& sceneObjSecond);
+                             const std::shared_ptr<SceneObjectDeformable>& sceneObjSecond);
 
     virtual ~PenaltyContactFemToStatic();
 
@@ -47,6 +47,35 @@ public:
     /// \brief Get the forces on both the scene objects using penalty method
     virtual void computeBilateralContactForces() override;
 
+    /// \brief Get the forces on both the scene objects using penalty method
+    virtual void computeForces(std::shared_ptr<SceneObjectDeformable> sceneObject)
+    {
+        if(sceneObject->computeContactForce())
+        {
+            auto model = sceneObject->getModel();
+            if(!model)
+            {
+                return;
+            }
+
+            auto contactInfo = this->getCollisionPairs()->getContacts(model);
+            sceneObject->setContactForcesToZero();
+            core::Vec3d force;
+            core::Vec3d velocityProjection;
+            int nodeDofID;
+            for(auto &contact : contactInfo)
+            {
+                nodeDofID = 3 * contact->index;
+                velocityProjection = sceneObject->getVelocity(nodeDofID);
+                velocityProjection = contact->normal.dot(velocityProjection) * contact->normal;
+
+                force = -stiffness * contact->depth * contact->normal - damping * velocityProjection;
+
+                sceneObject->setContactForce(nodeDofID, contact->point, force);
+            }
+        }
+    }
+
 };
 
 #endif // SMPENALTY_FEM_TO_STATIC_SCENE_OBJECT

ContactHandling/PenaltyContactHandling.cpp

@@ -33,6 +33,7 @@ PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral) :
 {
 }
 
+//---------------------------------------------------------------------------
 PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral,
                                                const std::shared_ptr<SceneObject>& sceneObjFirst,
                                                const std::shared_ptr<SceneObject>& sceneObjSecond) :
@@ -42,10 +43,12 @@ PenaltyContactHandling::PenaltyContactHandling(bool typeBilateral,
 {
 }
 
+//---------------------------------------------------------------------------
 PenaltyContactHandling::~PenaltyContactHandling()
 {
 };
 
+//---------------------------------------------------------------------------
 void PenaltyContactHandling::resolveContacts()
 {
     if (!isBilateral)

ContactHandling/PenaltyContactHandling.h

@@ -25,7 +25,7 @@
 
 // SimMedTK includes
 #include "Core/ContactHandling.h"
-
+#include "Simulators/SceneObjectDeformable.h"
 #include "Core/CollisionPair.h"
 
 /// \brief Penalty based for contact handling
@@ -48,35 +48,6 @@ public:
     /// \brief Get the forces on both the scene objects using penalty method
     virtual void computeBilateralContactForces() = 0;
 
-    /// \brief Get the forces on both the scene objects using penalty method
-    virtual void computeForces(std::shared_ptr<SceneObject> sceneObject)
-    {
-        if(sceneObject->computeContactForce())
-        {
-            auto model = sceneObject->getModel();
-            if(!model)
-            {
-                return;
-            }
-
-            auto contactInfo = this->getCollisionPairs()->getContacts(model);
-            sceneObject->setContactForcesToZero();
-            core::Vec3d force;
-            core::Vec3d velocityProjection;
-            int nodeDofID;
-            for(auto &contact : contactInfo)
-            {
-                nodeDofID = 3 * contact->index;
-                velocityProjection = sceneObject->getVelocity(nodeDofID);
-                velocityProjection = contact->normal.dot(velocityProjection) * contact->normal;
-
-                force = -stiffness * contact->depth * contact->normal - damping * velocityProjection;
-
-                sceneObject->setContactForce(nodeDofID, contact->point, force);
-            }
-        }
-    }
-
     ///
     /// \brief Set stiffness coefficient
     ///
@@ -109,7 +80,7 @@ public:
         return this->damping;
     }
 
-private:
+protected:
     double stiffness;
     double damping;
 };