DummyBV.h

/****************************************************************************
 * Copyright 2009 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 _MOBY_DUMMY_BV_H_
#define _MOBY_DUMMY_BV_H_

#include <Moby/BV.h>

namespace Moby {


class DummyBV : public BV 
{
  public:
    virtual ~DummyBV() {}

    std::ostream& to_vrml(std::ostream& out, const Ravelin::Pose3d& T) const { return out; }

    virtual boost::shared_ptr<const Ravelin::Pose3d> get_relative_pose() const { return GLOBAL; }

    virtual bool outside(const Point3d& point, double tol = NEAR_ZERO) const { return false; }

    virtual bool intersects(const LineSeg3& seg, double& tmin, double tmax, Point3d& q) const { q = seg.first*tmin + seg.second*((double) 1.0 - tmin); return true; }


    virtual BVPtr calc_swept_BV(CollisionGeometryPtr g, const Ravelin::SVelocityd& v) const { return boost::const_pointer_cast<BV>(get_this()); }

    virtual double calc_volume() const { return 0.0; }

    virtual Point3d get_lower_bounds() const { double INF = std::numeric_limits<double>::max(); return Point3d(-INF, -INF, -INF); }

    virtual Point3d get_upper_bounds() const { double INF = std::numeric_limits<double>::max(); return Point3d(INF, INF, INF); }

    virtual void transform(const Ravelin::Transform3d& T, BV* result) const {}
}; // end class

} // end namespace

#endif