Shape.hpp

/*
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#ifndef DART_DYNAMICS_SHAPE_HPP_
#define DART_DYNAMICS_SHAPE_HPP_

#include <memory>

#include <Eigen/Dense>

#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/SmartPointer.hpp"
#include "dart/math/Geometry.hpp"

namespace dart {
namespace dynamics {

DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Shape : public virtual common::Subject,
              public virtual common::VersionCounter
{
public:
  using VersionChangedSignal
      = common::Signal<void(Shape* shape, std::size_t version)>;

  enum ShapeType
  {
    SPHERE,
    BOX,
    ELLIPSOID,
    CYLINDER,
    CAPSULE,
    CONE,
    PYRAMID,
    RECTANGULAR_PYRAMID,
    PLANE,
    MULTISPHERE,
    MESH,
    SOFT_MESH,
    LINE_SEGMENT,
    HEIGHTMAP,
    UNSUPPORTED
  };

  enum DataVariance
  {
    STATIC = 0, 
    DYNAMIC_TRANSFORM
    = 1 << 1, 
    DYNAMIC_PRIMITIVE = 1 << 2, 
    DYNAMIC_COLOR
    = 1 << 3, 
    DYNAMIC_VERTICES
    = 1 << 4, 
    DYNAMIC_ELEMENTS
    = 1 << 5, 
    DYNAMIC = 0xFF 
  };

  explicit Shape(ShapeType _type);

  Shape();

  virtual ~Shape();

  virtual const std::string& getType() const = 0;

  template <typename ShapeT>
  bool is() const;

  const math::BoundingBox& getBoundingBox() const;

  virtual Eigen::Matrix3d computeInertia(double mass) const = 0;

  Eigen::Matrix3d computeInertiaFromDensity(double density) const;

  Eigen::Matrix3d computeInertiaFromMass(double mass) const;

  double getVolume() const;

  std::size_t getID() const;

  DART_DEPRECATED(6.1)
  ShapeType getShapeType() const;

  void setDataVariance(unsigned int _variance);

  void addDataVariance(unsigned int _variance);

  void removeDataVariance(unsigned int _variance);

  unsigned int getDataVariance() const;

  bool checkDataVariance(DataVariance type) const;

  virtual void refreshData();

  DART_DEPRECATED(6.2)
  virtual void notifyAlphaUpdate(double alpha);

  virtual void notifyAlphaUpdated(double alpha);

  DART_DEPRECATED(6.2)
  virtual void notifyColorUpdate(const Eigen::Vector4d& color);

  virtual void notifyColorUpdated(const Eigen::Vector4d& color);

  std::size_t incrementVersion() override final;

protected:
  virtual void updateVolume() const = 0;

  virtual void updateBoundingBox() const = 0;

  mutable math::BoundingBox mBoundingBox;

  mutable bool mIsBoundingBoxDirty;

  mutable double mVolume;

  mutable bool mIsVolumeDirty;

  const std::size_t mID;

  unsigned int mVariance;

  static std::atomic_int mCounter;

  ShapeType mType;

private:
  VersionChangedSignal mVersionChangedSignal;

public:
  common::SlotRegister<VersionChangedSignal> onVersionChanged;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END

} // namespace dynamics
} // namespace dart

#include "dart/dynamics/detail/Shape.hpp"

#endif // DART_DYNAMICS_SHAPE_HPP_