SpherePrimitive.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 _SPHERE_PRIMITIVE_H
#define _SPHERE_PRIMITIVE_H

#include <Moby/Primitive.h>

namespace Moby {

class BoxPrimitive;
class BoundingSphere;

class SpherePrimitive : public Primitive
{
  public: 
    SpherePrimitive();
    SpherePrimitive(double radius);
    SpherePrimitive(const Ravelin::Pose3d& T);
    SpherePrimitive(double radius, unsigned n);
    SpherePrimitive(double radius, const Ravelin::Pose3d& T);
    SpherePrimitive(double radius, unsigned n, const Ravelin::Pose3d& T);
    void set_radius(double radius);
    void set_num_points(unsigned n);
    virtual bool is_convex() const { return true; }
    virtual void load_from_xml(boost::shared_ptr<const XMLTree> node, std::map<std::string, BasePtr>& id_map);
    virtual void save_to_xml(XMLTreePtr node, std::list<boost::shared_ptr<const Base> >& shared_objects) const;
    virtual void set_pose(const Ravelin::Pose3d& T);
    virtual void get_vertices(boost::shared_ptr<const Ravelin::Pose3d> P, std::vector<Point3d>& vertices) const;
    virtual BVPtr get_BVH_root(CollisionGeometryPtr geom);
    virtual double calc_dist_and_normal(const Point3d& point, std::vector<Ravelin::Vector3d>& normals) const;
    virtual double calc_signed_dist(boost::shared_ptr<const Primitive> p, Point3d& pthis, Point3d& pp) const;
    virtual boost::shared_ptr<const IndexedTriArray> get_mesh(boost::shared_ptr<const Ravelin::Pose3d> P);
    virtual osg::Node* create_visualization();
    double calc_signed_dist(boost::shared_ptr<const SpherePrimitive> s, Point3d& pthis, Point3d& psph) const;
    virtual Point3d get_supporting_point(const Ravelin::Vector3d& d) const;
    virtual double calc_signed_dist(const Point3d& p) const;
    virtual double get_bounding_radius() const { return _radius; }

    double get_radius() const { return _radius; }

    unsigned get_num_points() const { return _npoints; }

  private:
    virtual void calc_mass_properties();
    static double calc_f(const Ravelin::VectorNd&, void*);
    static void calc_gradient(const Ravelin::VectorNd&, void*, Ravelin::VectorNd&);
    static void calc_hessian(const Ravelin::VectorNd&, void*, Ravelin::MatrixNd&);

    std::map<CollisionGeometryPtr, boost::shared_ptr<BoundingSphere> > _bsphs; 

    double _radius;

    unsigned _npoints;
}; // end class

} // end namespace

#endif