Vertices.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_DATASTRUCTURES_VERTICES_H
#define SURGSIM_DATASTRUCTURES_VERTICES_H

#include <vector>

#include "SurgSim/DataStructures/EmptyData.h"
#include "SurgSim/DataStructures/Vertex.h"
#include "SurgSim/Math/RigidTransform.h"
#include "SurgSim/Math/Vector.h"


namespace SurgSim
{

namespace DataStructures
{

template <class VertexData>
class Vertices
{
public:
    typedef Vertex<VertexData> VertexType;

    Vertices();

    template <class V>
    explicit Vertices(const Vertices<V>& other);

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

    virtual ~Vertices();

    void clear();

    bool update();

    size_t addVertex(const VertexType& vertex);

    size_t getNumVertices() const;

    const VertexType& getVertex(size_t id) const;

    VertexType& getVertex(size_t id);

    const std::vector<VertexType>& getVertices() const;

    std::vector<VertexType>& getVertices();

    void setVertexPosition(size_t id, const SurgSim::Math::Vector3d& position);

    const SurgSim::Math::Vector3d& getVertexPosition(size_t id) const;

    void setVertexPositions(const std::vector<SurgSim::Math::Vector3d>& positions, bool doUpdate = true);

    void transform(const Math::RigidTransform3d& pose);

    bool operator==(const Vertices& mesh) const;

    bool operator!=(const Vertices& mesh) const;

protected:
    virtual void doClearVertices();

    virtual bool isEqual(const Vertices& mesh) const;

private:
    virtual void doClear();

    virtual bool doUpdate();

    std::vector<VertexType> m_vertices;
};

typedef Vertices<EmptyData> VerticesPlain;

};  // namespace DataStructures
};  // namespace SurgSim

#include "SurgSim/DataStructures/Vertices-inl.h"

#endif  // SURGSIM_DATASTRUCTURES_VERTICES_H