AnalyticGeometry.h

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#ifndef SimTK_SimTKCOMMON_ANALYTIC_GEOMETRY_H_
#define SimTK_SimTKCOMMON_ANALYTIC_GEOMETRY_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTKcommon                               *
 * -------------------------------------------------------------------------- *
 * This is part of the SimTK Core biosimulation toolkit originating from      *
 * Simbios, the NIH National Center for Physics-Based Simulation of           *
 * Biological Structures at Stanford, funded under the NIH Roadmap for        *
 * Medical Research, grant U54 GM072970. See https://simtk.org.               *
 *                                                                            *
 * Portions copyright (c) 2005-7 Stanford University and the Authors.         *
 * Authors: Michael Sherman                                                   *
 * Contributors:                                                              *
 *                                                                            *
 * Permission is hereby granted, free of charge, to any person obtaining a    *
 * copy of this software and associated documentation files (the "Software"), *
 * to deal in the Software without restriction, including without limitation  *
 * the rights to use, copy, modify, merge, publish, distribute, sublicense,   *
 * and/or sell copies of the Software, and to permit persons to whom the      *
 * Software is furnished to do so, subject to the following conditions:       *
 *                                                                            *
 * The above copyright notice and this permission notice shall be included in *
 * all copies or substantial portions of the Software.                        *
 *                                                                            *
 * THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR *
 * IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,   *
 * FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL    *
 * THE AUTHORS, CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM,    *
 * DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR      *
 * OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE  *
 * USE OR OTHER DEALINGS IN THE SOFTWARE.                                     *
 * -------------------------------------------------------------------------- */

#include "SimTKcommon/Simmatrix.h"

#include <cassert>

namespace SimTK {

class DecorativeGeometry;

class SimTK_SimTKCOMMON_EXPORT AnalyticGeometry {
public:
    AnalyticGeometry() : rep(0) { }
    ~AnalyticGeometry();
    AnalyticGeometry(const AnalyticGeometry&);
    AnalyticGeometry& operator=(const AnalyticGeometry&);

    void setTransform(const Transform& X_BG);
    const Transform& getTransform() const;

    DecorativeGeometry generateDecorativeGeometry() const;

    bool isOwnerHandle() const;
    bool isEmptyHandle() const;

    // Internal use only
    explicit AnalyticGeometry(class AnalyticGeometryRep* r) : rep(r) { }
    bool hasRep() const {return rep!=0;}
    const AnalyticGeometryRep& getRep() const {assert(rep); return *rep;}
    AnalyticGeometryRep&       updRep()       {assert(rep); return *rep;}
protected:
    class AnalyticGeometryRep* rep;
};

class SimTK_SimTKCOMMON_EXPORT AnalyticCurve : public AnalyticGeometry {
public:
    AnalyticCurve() { }
    Real calcArcLength() const;
    Vec3 calcPositionFromArcLengthParameter(const Real& s) const;

    bool isClosed() const;

    SimTK_PIMPL_DOWNCAST(AnalyticCurve, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticSurface : public AnalyticGeometry {
public:
    AnalyticSurface() { }

    Real calcArea() const;
    Vec3 calcPositionFromSurfaceParameters(const Vec2&) const;
    Vec3 calcNormalFromSurfaceParameters(const Vec2&) const;

    SimTK_PIMPL_DOWNCAST(AnalyticSurface, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticVolume : public AnalyticGeometry {
public:
    AnalyticVolume() { }
    Real calcVolume() const;

    bool isPointInside(const Vec3&) const;

    SimTK_PIMPL_DOWNCAST(AnalyticVolume, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticLine : public AnalyticCurve {
public:
    AnalyticLine() { }
    AnalyticLine(const Vec3& p1, const Vec3& p2);

    SimTK_PIMPL_DOWNCAST(AnalyticLine, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticCircle : public AnalyticCurve {
public:
    AnalyticCircle() { }
    AnalyticCircle(Real radius);

    SimTK_PIMPL_DOWNCAST(AnalyticCircle, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticSphere : public AnalyticVolume {
public:
    AnalyticSphere() { }
    AnalyticSphere(Real radius);

    SimTK_PIMPL_DOWNCAST(AnalyticSphere, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticCylinder : public AnalyticVolume {
public:
    AnalyticCylinder() { }
    AnalyticCylinder(Real radius, Real halfLength);

    SimTK_PIMPL_DOWNCAST(AnalyticCylinder, AnalyticGeometry);
};

class SimTK_SimTKCOMMON_EXPORT AnalyticBrick : public AnalyticVolume {
public:
    AnalyticBrick() { }
    AnalyticBrick(const Vec3& xyzHalfLengths);

    SimTK_PIMPL_DOWNCAST(AnalyticBrick, AnalyticGeometry);
};


} // namespace SimTK

#endif // SimTK_SimTKCOMMON_ANALYTIC_GEOMETRY_H_