CompoundShape.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2015, SimQuest Solutions Inc.
//
// 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
//
// 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.

#ifndef SURGSIM_MATH_COMPOUNDSHAPE_H
#define SURGSIM_MATH_COMPOUNDSHAPE_H

#include <memory>
#include <utility>

#include <boost/thread.hpp>

#include "SurgSim/Math/Shape.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/DataStructures/OptionalValue.h"

namespace SurgSim
{

namespace Math
{

SURGSIM_STATIC_REGISTRATION(CompoundShape);

class CompoundShape : public Shape
{
public:
    CompoundShape();

    ~CompoundShape();

    SURGSIM_CLASSNAME(SurgSim::Math::CompoundShape);

    typedef std::pair<std::shared_ptr<Shape>, RigidTransform3d> SubShape;

    size_t addShape(const std::shared_ptr<Shape>& shape, const RigidTransform3d& pose = RigidTransform3d::Identity());

    void setShapes(const std::vector<SubShape>& shapes);

    const std::vector<SubShape>& getShapes() const;

    const std::shared_ptr<Shape>& getShape(size_t index) const;

    RigidTransform3d getCompoundPose(size_t index) const;

    RigidTransform3d getPose(size_t index) const;

    const std::vector<RigidTransform3d>& getPoses() const;

    void setPoses(const std::vector<RigidTransform3d>& poses);

    void setPose(size_t index, const RigidTransform3d& pose);

    size_t getNumShapes() const;

    void clearShapes();

    int getType() const override;

    double getVolume() const override;

    Vector3d getCenter() const override;

    Matrix33d getSecondMomentOfVolume() const override;

    bool isValid() const override;

    const Math::Aabbd& getBoundingBox() const override;

    bool isTransformable() const override;
    std::shared_ptr<Shape> getTransformed(const RigidTransform3d& pose) const override;
    void setPose(const RigidTransform3d& pose) override;
    void updateShape() override;
    void updateShapePartial() override;

private:

    void invalidateData();

    std::vector<SubShape> m_shapes;
    std::vector<RigidTransform3d> m_poses;
    RigidTransform3d m_lastSetPose;

    typedef boost::shared_lock<boost::shared_mutex> ReadLock;
    typedef boost::unique_lock<boost::shared_mutex> WriteLock;

    mutable boost::shared_mutex m_mutex;

    mutable DataStructures::OptionalValue<Vector3d> m_center;
    mutable DataStructures::OptionalValue<double> m_volume;
    mutable DataStructures::OptionalValue<Matrix33d> m_secondMoment;
    mutable DataStructures::OptionalValue<Math::Aabbd> m_localAabb;

};

}
}

#endif