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Hello, I have some questions about collision in imstk

I use the following code to join the collision interaction

scene->getCollisionGraph()->addInteraction(makeObjectInteractionPair(PBDObj1, PBDObj2, InteractionType::PbdObjToPbdObjCollision, 

CollisionDetection::Type::MeshToMeshBruteForce));

1. Regarding the interactionType, I noticed that there is an enumeration class in imstkOBjectInteractionFactory.h that lists some types, but

not all types are implemented in imstkOBjectInteractionFactory.cpp. Does it mean that not all interactionTypes can be used?

Moreover, although the femObjToCollidingObjPenaltyForce type is implemented, it does not return, imstkOBjectInteractionFactory.cpp line 102.

I want to realize the collision of FEMOBj and collidingOBj， PBDOBJ and collidingOBj.

2. Regarding collision handling, I want to achieve similar puncture effects and friction effects, what should I do to achieve these

effects

3. Regarding collisionDetectionType, Is there any essential difference between pointset and surfmesh？

when i read mesh with different code, different dataType showd:

auto surfMesh = MeshIO::read<SurfaceMesh>("xxx.obj"); ---------- surfMesh

auto surfMesh = MeshIO::read("xxx.obj"); ------------------------PointSet

then which way is correct to use to collisionDetection.

Thank you very much for any suggestions.