DeformableCollisionRepresentation.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013, 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_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H
#define SURGSIM_PHYSICS_DEFORMABLECOLLISIONREPRESENTATION_H

#include <memory>
#include <string>

#include "SurgSim/Collision/Representation.h"
#include "SurgSim/Framework/ObjectFactory.h"

namespace SurgSim
{
namespace Math
{
class Shape;
class MeshShape;
}

namespace Physics
{
class DeformableRepresentation;

SURGSIM_STATIC_REGISTRATION(DeformableCollisionRepresentation);

class DeformableCollisionRepresentation : public SurgSim::Collision::Representation
{
public:

    explicit DeformableCollisionRepresentation(const std::string& name);

    virtual ~DeformableCollisionRepresentation();

    SURGSIM_CLASSNAME(SurgSim::Physics::DeformableCollisionRepresentation);

    void setShape(std::shared_ptr<SurgSim::Math::Shape> shape);

    std::shared_ptr<Math::Shape> getShape() const override;

    void setDeformableRepresentation(std::shared_ptr<SurgSim::Physics::DeformableRepresentation> representation);

    const std::shared_ptr<SurgSim::Physics::DeformableRepresentation> getDeformableRepresentation() const;

    void setCollisionDetectionType(Collision::CollisionDetectionType type) override;

    void setSelfCollisionDetectionType(Collision::CollisionDetectionType type) override;

    int getShapeType() const override;

    void updateDcdData() override;

    void updateCcdData(double interval) override;

    void updateShapeData() override;

    Math::Aabbd getBoundingBox() const override;

private:
    bool doInitialize() override;
    bool doWakeUp() override;

    std::shared_ptr<SurgSim::Math::Shape> m_shape, m_previousShape;

    Math::Aabbd m_aabb;

    std::weak_ptr<SurgSim::Physics::DeformableRepresentation> m_deformable;

    double m_oldVolume;
    double m_previousOldVolume;
    double m_aabbThreshold;
};

} // namespace Physics
} // namespace SurgSim

#endif