Shape.h

// This file is a part of the OpenSurgSim project.
// Copyright 2013-2016, 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_SHAPE_H
#define SURGSIM_MATH_SHAPE_H

#include "SurgSim/Framework/Accessible.h"
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Math/Matrix.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"
#include "SurgSim/Math/Aabb.h"
#include "SurgSim/DataStructures/OptionalValue.h"

namespace SurgSim
{

namespace Math
{

typedef enum
{
    SHAPE_DIRECTION_AXIS_X = 0,
    SHAPE_DIRECTION_AXIS_Y = 1,
    SHAPE_DIRECTION_AXIS_Z = 2
} ShapeDirection;

typedef enum
{
    SHAPE_TYPE_NONE = -1,
    SHAPE_TYPE_BOX,
    SHAPE_TYPE_CAPSULE,
    SHAPE_TYPE_CYLINDER,
    SHAPE_TYPE_DOUBLESIDEDPLANE,
    SHAPE_TYPE_MESH,
    SHAPE_TYPE_OCTREE,
    SHAPE_TYPE_PARTICLES,
    SHAPE_TYPE_PLANE,
    SHAPE_TYPE_SPHERE,
    SHAPE_TYPE_SURFACEMESH,
    SHAPE_TYPE_SEGMENTMESH,
    SHAPE_TYPE_COMPOUNDSHAPE,
    SHAPE_TYPE_COUNT
} ShapeType;

class Shape : virtual public SurgSim::Framework::Accessible, public Framework::FactoryBase<Shape>
{
public:
    typedef ::SurgSim::Math::Vector3d Vector3d;
    typedef ::SurgSim::Math::Matrix33d Matrix33d;

    Shape();

    virtual ~Shape();

    virtual int getType() const = 0;

    virtual double getVolume() const = 0;

    virtual Vector3d getCenter() const = 0;

    virtual Matrix33d getSecondMomentOfVolume() const = 0;

    virtual bool isTransformable() const;

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

    virtual void setPose(const RigidTransform3d& pose);

    virtual void updateShape();

    virtual void updateShapePartial();

    virtual std::string getClassName() const;

    virtual bool isValid() const = 0;

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

protected:
    Math::Aabbd m_aabb;
};

template <class T>
struct PosedShape
{
    PosedShape()
    {
        pose = Math::RigidTransform3d::Identity();
    }
    PosedShape(const T& shapeInput, const Math::RigidTransform3d& poseInput) : shape(shapeInput), pose(poseInput) {}

    void invalidate()
    {
        shape = nullptr;
    }
    const T& getShape() const
    {
        return shape;
    }
    const Math::RigidTransform3d& getPose() const
    {
        return pose;
    }

protected:
    T shape;
    Math::RigidTransform3d pose;
};

template <class T>
struct PosedShapeMotion : public std::pair<PosedShape<T>, PosedShape<T>>
{
    PosedShapeMotion() {}
    PosedShapeMotion(const PosedShape<T>& posedShapeFirst, const PosedShape<T>& posedShapeSecond)
    {
        this->first = posedShapeFirst;
        this->second = posedShapeSecond;
    }

    void invalidate()
    {
        this->first.invalidate();
        this->second.invalidate();
    }
};

}; // Math
}; // SurgSim

#endif // SURGSIM_MATH_SHAPE_H