RigidCollisionRepresentation.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_RIGIDCOLLISIONREPRESENTATION_H
#define SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H

#include <memory>

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

namespace SurgSim
{
namespace Physics
{
class RigidRepresentationBase;

SURGSIM_STATIC_REGISTRATION(RigidCollisionRepresentation);

class RigidCollisionRepresentation : public SurgSim::Collision::Representation
{
public:
    explicit RigidCollisionRepresentation(const std::string& name);

    virtual ~RigidCollisionRepresentation();

    SURGSIM_CLASSNAME(SurgSim::Physics::RigidCollisionRepresentation);

    bool doInitialize() override;
    bool doWakeUp() override;

    SurgSim::Math::RigidTransform3d getPose() const override;

    int getShapeType() const override;

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

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

    void setRigidRepresentation(std::shared_ptr<SurgSim::Physics::RigidRepresentationBase> representation);

    std::shared_ptr<SurgSim::Physics::RigidRepresentationBase> getRigidRepresentation();

    void updateShapeData() override;
    void updateCcdData(double timeOfImpact) override;

    Math::Aabbd getBoundingBox() const override;

private:
    std::weak_ptr<SurgSim::Physics::RigidRepresentationBase> m_physicsRepresentation;
    std::shared_ptr<SurgSim::Math::Shape> m_shape;
    Math::Aabbd m_aabb;
    Math::RigidTransform3d m_previousCcdPreviousPose;
};

}; // namespace Collision
}; // namespace SurgSim

#endif // SURGSIM_PHYSICS_RIGIDCOLLISIONREPRESENTATION_H