CollisionGeometry.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the Apache V2.0 
 * License (obtainable from http://www.apache.org/licenses/LICENSE-2.0).
 ****************************************************************************/

#ifndef _COLLISION_GEOMETRY_H
#define _COLLISION_GEOMETRY_H

#include <stack>
#include <list>
#include <vector>
#include <map>
#include <Ravelin/Pose3d.h>
#include <boost/foreach.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <Moby/Constants.h>
#include <Moby/Base.h>
#include <Moby/Triangle.h>
#include <Moby/Primitive.h>

namespace Ravelin {
class SingleBodyd;  
}

namespace Moby {


class CollisionGeometry : public virtual Base
{
  friend class GeneralizedCCD;

  public:
    CollisionGeometry();
    void set_relative_pose(const Ravelin::Pose3d& pose);  
    void write_vrml(const std::string& filename) const;
    PrimitivePtr set_geometry(PrimitivePtr primitive);
    virtual void save_to_xml(XMLTreePtr node, std::list<boost::shared_ptr<const Base> >& shared_objects) const;
    virtual void load_from_xml(boost::shared_ptr<const XMLTree> node, std::map<std::string, BasePtr>& id_map);
    void set_single_body(boost::shared_ptr<Ravelin::SingleBodyd> s);
    static double calc_signed_dist(CollisionGeometryPtr a, CollisionGeometryPtr b, Point3d& cpa, Point3d& cpb);
    double calc_signed_dist(const Point3d& p);
    double calc_dist_and_normal(const Point3d& p, std::vector<Ravelin::Vector3d>& n) const;
    void get_vertices(std::vector<Point3d>& p) const;
    Point3d get_supporting_point(const Ravelin::Vector3d& d) const;
    double get_farthest_point_distance() const;

    double compliant_layer_depth;

    CollisionGeometryPtr get_this() { return boost::dynamic_pointer_cast<CollisionGeometry>(shared_from_this()); }

    boost::shared_ptr<CollisionGeometry> get_parent() const { return (_parent.expired()) ? CollisionGeometryPtr() : CollisionGeometryPtr(_parent); }
    
    void set_parent(boost::weak_ptr<CollisionGeometry> parent) { _parent = parent; }

    boost::shared_ptr<const Ravelin::Pose3d> get_pose() const { return _F; }
    
    boost::shared_ptr<Ravelin::SingleBodyd> get_single_body() const { return (_single_body.expired()) ? boost::shared_ptr<Ravelin::SingleBodyd>() : boost::shared_ptr<Ravelin::SingleBodyd>(_single_body); }
    
    PrimitivePtr get_geometry() const { return _geometry; }

  protected:
    boost::shared_ptr<Ravelin::Pose3d> _F;
  
    PrimitivePtr _geometry;

  private:
    boost::weak_ptr<Ravelin::SingleBodyd> _single_body;
    boost::weak_ptr<CollisionGeometry> _parent;
}; // end class

} // end namespace

#endif