MockTriangle.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_UNITTESTS_MOCKTRIANGLE_H
#define SURGSIM_MATH_UNITTESTS_MOCKTRIANGLE_H

#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/RigidTransform.h"

namespace SurgSim
{
namespace Math
{

class MockTriangle
{
public:
    // Default constructor.
    MockTriangle() {}

    // Constructor.
    MockTriangle(const Vector3d& vertex0, const Vector3d& vertex1, const Vector3d& vertex2) :
        v0(vertex0), v1(vertex1), v2(vertex2), v0v1(vertex1 - vertex0), v0v2(vertex2 - vertex0),
        v1v2(vertex2 - vertex1)
    {
        n = v0v1.cross(v0v2);
        n.normalize();
    }
    // Constructor with normal.
    MockTriangle(const Vector3d& vertex0, const Vector3d& vertex1, const Vector3d& vertex2, const Vector3d& normal) :
        v0(vertex0), v1(vertex1), v2(vertex2), v0v1(vertex1 - vertex0), v0v2(vertex2 - vertex0),
        v1v2(vertex2 - vertex1), n(normal)
    {
    }

    // Find a point inside the triangle, given a pair of scaling factor for the edges (v0v1 and v0v2).
    Vector3d pointInTriangle(double a, double b) const
    {
        return v0 + a * v0v1 + b * v0v2;
    }

    // Move this triangle by the given vector.
    void translate(const Vector3d& v)
    {
        v0 += v;
        v1 += v;
        v2 += v;
    }

    // Rotate this triangle about the x-axis by the given angle.
    void rotateAboutXBy(double angle)
    {
        RigidTransform3d r(Eigen::AngleAxis<double>(angle * (M_PI / 180.0), Vector3d(1, 0, 0)));
        v0  = r * v0;
        v1  = r * v1;
        v2  = r * v2;
        n = r * n;
    }

    // Rotate this triangle about the y-axis by the given angle.
    void rotateAboutYBy(double angle)
    {
        SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis<double>(angle * (M_PI / 180.0), Vector3d(0, 1, 0)));
        v0  = r * v0;
        v1  = r * v1;
        v2  = r * v2;
        n = r * n;
    }

    // Rotate this triangle about the z-axis by the given angle.
    void rotateAboutZBy(double angle)
    {
        SurgSim::Math::RigidTransform3d r(Eigen::AngleAxis<double>(angle * (M_PI / 180.0), Vector3d(0, 0, 1)));
        v0  = r * v0;
        v1  = r * v1;
        v2  = r * v2;
        n = r * n;
    }

    // Transform this triangle by the given matrix.
    void transform(SurgSim::Math::RigidTransform3d transform)
    {
        v0  = transform * v0;
        v1  = transform * v1;
        v2  = transform * v2;
        n = transform.linear() * n;
    }

    // Vertices of this triangle.
    Vector3d v0;
    Vector3d v1;
    Vector3d v2;

    // Edges of this triangle.
    Vector3d v0v1;
    Vector3d v0v2;
    Vector3d v1v2;

    // Normal of the triangle.
    Vector3d n;
};


} // namespace Math

} // namespace SurgSim

#endif // SURGSIM_MATH_UNITTESTS_MOCKTRIANGLE_H