SegmentMeshShape.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_SEGMENTMESHSHAPE_H
#define SURGSIM_MATH_SEGMENTMESHSHAPE_H

#include "SurgSim/DataStructures/AabbTree.h"
#include "SurgSim/DataStructures/SegmentMesh.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Geometry.h"
#include "SurgSim/Math/Shape.h"
#include "SurgSim/Math/VerticesShape.h"

namespace SurgSim
{

namespace Math
{
SURGSIM_STATIC_REGISTRATION(SegmentMeshShape);

class SegmentMeshShape : public VerticesShape, public DataStructures::SegmentMeshPlain
{
public:
    SegmentMeshShape();

    explicit SegmentMeshShape(const SegmentMeshShape& other);

    template <class VertexData, class EdgeData>
    explicit SegmentMeshShape(const DataStructures::SegmentMesh<VertexData, EdgeData>& mesh,
                              double radius = Geometry::DistanceEpsilon);

    SURGSIM_CLASSNAME(SurgSim::Math::SegmentMeshShape);

    int getType() const override;
    double getVolume() const override;
    Vector3d getCenter() const override;
    Matrix33d getSecondMomentOfVolume() const override;
    bool isValid() const override;

    void setRadius(double radius);

    double getRadius() const;

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

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

    void setPose(const RigidTransform3d& pose) override;

    void buildAabbTree();

    void updateAabbTree();

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

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



private:
    double m_radius;

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

    Vector3d m_segmentEndBoundingBoxHalfExtent;
};

} // Math
} // SurgSim

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

#endif // SURGSIM_MATH_SEGMENTMESHSHAPE_H