OctreeShape.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_OCTREESHAPE_H
#define SURGSIM_MATH_OCTREESHAPE_H

#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/OctreeNode.h"
#include "SurgSim/Framework/Asset.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Shape.h"

namespace SurgSim
{

namespace Math
{
SURGSIM_STATIC_REGISTRATION(OctreeShape);

class OctreeShape : public Shape
{
public:
    typedef SurgSim::DataStructures::OctreeNode<SurgSim::DataStructures::EmptyData> NodeType;

    OctreeShape();

    SURGSIM_CLASSNAME(SurgSim::Math::OctreeShape);

    template<class T>
    explicit OctreeShape(const SurgSim::DataStructures::OctreeNode<T>& node);

    virtual ~OctreeShape();

    int getType() const override;

    double getVolume() const override;

    Vector3d getCenter() const override;

    Matrix33d getSecondMomentOfVolume() const override;

    std::shared_ptr<NodeType> getOctree();

    void setOctree(std::shared_ptr<SurgSim::Framework::Asset> node);

    bool isValid() const override;

    void loadOctree(const std::string& filePath);

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

private:

    bool isValid(std::shared_ptr<NodeType> node) const;

    std::shared_ptr<NodeType> m_rootNode;
};

}; // Math
}; // SurgSim

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

#endif // SURGSIM_MATH_OCTREESHAPE_H