MeshShape.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_MATH_MESHSHAPE_H
#define SURGSIM_MATH_MESHSHAPE_H

#include <memory>

#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/NormalData.h"
#include "SurgSim/DataStructures/TriangleMesh.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Shape.h"
#include "SurgSim/Math/VerticesShape.h"

namespace SurgSim
{
namespace DataStructures
{
class AabbTree;
class AabbTreeNode;
}

namespace Math
{

SURGSIM_STATIC_REGISTRATION(MeshShape);

class MeshShape : public VerticesShape, public SurgSim::DataStructures::TriangleMesh<SurgSim::DataStructures::EmptyData,
    SurgSim::DataStructures::EmptyData, SurgSim::DataStructures::NormalData>
{
public:
    MeshShape();

    explicit MeshShape(const MeshShape& other);

    template <class V, class E, class T>
    explicit MeshShape(const SurgSim::DataStructures::TriangleMesh<V, E, T>& other);

    SURGSIM_CLASSNAME(SurgSim::Math::MeshShape);

    int getType() const override;

    const SurgSim::Math::Vector3d& getNormal(size_t triangleId) const;

    double getVolume() const override;

    Vector3d getCenter() const override;

    Matrix33d getSecondMomentOfVolume() const override;

    std::shared_ptr<Shape> getTransformed(const RigidTransform3d& pose) const override;

    const std::shared_ptr<const SurgSim::DataStructures::AabbTree> getAabbTree() const;

    bool isValid() const override;

    void setPose(const RigidTransform3d& pose) override;

    void buildAabbTree();

    void updateAabbTree();

    bool calculateNormals();

    void updateShape() override;
    void updateShapePartial() override;

protected:
    bool doUpdate() override;

    bool doLoad(const std::string& fileName) override;

    virtual void computeVolumeIntegrals();

    SurgSim::Math::Vector3d m_center;

    double m_volume;

    SurgSim::Math::Matrix33d m_secondMomentOfVolume;

private:
    std::shared_ptr<SurgSim::DataStructures::AabbTree> m_aabbTree;
    std::vector<SurgSim::Math::Aabbd> m_aabbCache;
};

}; // Math
}; // SurgSim

#include "SurgSim/Math/MeshShape-inl.h"

#endif // SURGSIM_MATH_MESHSHAPE_H