ParticlesShape.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_PARTICLESSHAPE_H
#define SURGSIM_MATH_PARTICLESSHAPE_H

#include <memory>

#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/Vertices.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/Shape.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/VerticesShape.h"

namespace SurgSim
{
namespace DataStructures
{
class AabbTree;
};

namespace Math
{

SURGSIM_STATIC_REGISTRATION(ParticlesShape);

class ParticlesShape : public VerticesShape, public SurgSim::DataStructures::Vertices<DataStructures::EmptyData>
{
public:
    explicit ParticlesShape(double radius = 0.0);

    explicit ParticlesShape(const ParticlesShape& other);

    template <class V>
    explicit ParticlesShape(const SurgSim::DataStructures::Vertices<V>& other);

    template <class V>
    ParticlesShape& operator=(const Vertices<V>& other);

    SURGSIM_CLASSNAME(SurgSim::Math::ParticlesShape);

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

    void setRadius(double radius);

    double getRadius() const;

    int getType() const override;

    double getVolume() const override;

    Vector3d getCenter() const override;

    Matrix33d getSecondMomentOfVolume() const override;

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

    bool isValid() const override;

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

    void setPose(const RigidTransform3d& pose) override;

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

private:
    bool doUpdate() override;

    std::shared_ptr<SurgSim::DataStructures::AabbTree> m_aabbTree;

    double m_radius;

    Vector3d m_center;

    double m_volume = std::numeric_limits<double>::signaling_NaN();

    Matrix33d m_secondMomentOfVolume;
};

};
};

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

#endif // SURGSIM_MATH_PARTICLESSHAPE_H