ContactGeometry.h

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#ifndef SimTK_SIMBODY_CONTACT_GEOMETRY_H_
#define SimTK_SIMBODY_CONTACT_GEOMETRY_H_

/* -------------------------------------------------------------------------- *
 *                      SimTK Core: SimTK Simbody(tm)                         *
 * -------------------------------------------------------------------------- *
 * 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) 2008 Stanford University and the Authors.           *
 * Authors: Peter Eastman                                                     *
 * 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.h"

#include "simbody/internal/common.h"
#include "simbody/internal/OrientedBoundingBox.h"

#include <cassert>

namespace SimTK {

SimTK_DEFINE_UNIQUE_INDEX_TYPE(ContactGeometryTypeId);

class ContactGeometryImpl;
class OBBTreeNodeImpl;

class SimTK_SIMBODY_EXPORT ContactGeometry {
public:
    class HalfSpace;
    class Sphere;
    class TriangleMesh;
    class HalfSpaceImpl;
    class SphereImpl;
    class TriangleMeshImpl;
    ContactGeometry() : impl(0) {
    }
    ContactGeometry(const ContactGeometry& src);
    explicit ContactGeometry(ContactGeometryImpl* impl);
    virtual ~ContactGeometry();
    Vec3 findNearestPoint(const Vec3& position, bool& inside, UnitVec3& normal) const;
    bool intersectsRay(const Vec3& origin, const UnitVec3& direction, Real& distance, UnitVec3& normal) const;
    void getBoundingSphere(Vec3& center, Real& radius) const;
    bool isOwnerHandle() const;
    bool isEmptyHandle() const;

    ContactGeometry& operator=(const ContactGeometry& src);
    bool hasImpl() const {
        return impl != 0;
    }
    const ContactGeometryImpl& getImpl() const {
        assert(impl);
        return *impl;
    }
    ContactGeometryImpl& updImpl() {
        assert(impl);
        return *impl;
    }
    const std::string& getType() const;
    int getTypeIndex() const;

    ContactGeometryTypeId getTypeId() const;

   
protected:
    ContactGeometryImpl* impl;
};

class SimTK_SIMBODY_EXPORT ContactGeometry::HalfSpace : public ContactGeometry {
public:
    HalfSpace();

    static bool isInstance(const ContactGeometry& geo)
    {   return geo.getTypeId()==classTypeId(); }
    static const HalfSpace& getAs(const ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<const HalfSpace&>(geo); }
    static HalfSpace& updAs(ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<HalfSpace&>(geo); }

    static ContactGeometryTypeId classTypeId();
};

class SimTK_SIMBODY_EXPORT ContactGeometry::Sphere : public ContactGeometry {
public:
    explicit Sphere(Real radius);
    Real getRadius() const;
    void setRadius(Real radius);

    static bool isInstance(const ContactGeometry& geo)
    {   return geo.getTypeId()==classTypeId(); }
    static const Sphere& getAs(const ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<const Sphere&>(geo); }
    static Sphere& updAs(ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<Sphere&>(geo); }

    static ContactGeometryTypeId classTypeId();

    const SphereImpl& getImpl() const;
    SphereImpl& updImpl();
};

class SimTK_SIMBODY_EXPORT ContactGeometry::TriangleMesh : public ContactGeometry {
public:
    class OBBTreeNode;
    TriangleMesh(const ArrayViewConst_<Vec3>& vertices, const ArrayViewConst_<int>& faceIndices, bool smooth=false);
    explicit TriangleMesh(const PolygonalMesh& mesh, bool smooth=false);
    int getNumEdges() const;
    int getNumFaces() const;
    int getNumVertices() const;
    const Vec3& getVertexPosition(int index) const;
    int getFaceEdge(int face, int edge) const;
    int getFaceVertex(int face, int vertex) const;
    int getEdgeFace(int edge, int face) const;
    int getEdgeVertex(int edge, int vertex) const;
    void findVertexEdges(int vertex, Array_<int>& edges) const;
    const UnitVec3& getFaceNormal(int face) const;
    Real getFaceArea(int face) const;
    Vec3 findPoint(int face, const Vec2& uv) const;
    Vec3 findCentroid(int face) const;
    UnitVec3 findNormalAtPoint(int face, const Vec2& uv) const;
    Vec3 findNearestPoint(const Vec3& position, bool& inside, UnitVec3& normal) const;
    Vec3 findNearestPoint(const Vec3& position, bool& inside, int& face, Vec2& uv) const;
    bool intersectsRay(const Vec3& origin, const UnitVec3& direction, Real& distance, UnitVec3& normal) const;
    bool intersectsRay(const Vec3& origin, const UnitVec3& direction, Real& distance, int& face, Vec2& uv) const;
    OBBTreeNode getOBBTreeNode() const;

    PolygonalMesh createPolygonalMesh() const;

    static bool isInstance(const ContactGeometry& geo)
    {   return geo.getTypeId()==classTypeId(); }
    static const TriangleMesh& getAs(const ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<const TriangleMesh&>(geo); }
    static TriangleMesh& updAs(ContactGeometry& geo)
    {   assert(isInstance(geo)); return static_cast<TriangleMesh&>(geo); }

    static ContactGeometryTypeId classTypeId();

    const TriangleMeshImpl& getImpl() const;
    TriangleMeshImpl& updImpl();
};

class SimTK_SIMBODY_EXPORT ContactGeometry::TriangleMesh::OBBTreeNode {
public:
    OBBTreeNode(const OBBTreeNodeImpl& impl);
    const OrientedBoundingBox& getBounds() const;
    bool isLeafNode() const;
    const OBBTreeNode getFirstChildNode() const;
    const OBBTreeNode getSecondChildNode() const;
    const Array_<int>& getTriangles() const;
    int getNumTriangles() const;
private:
    const OBBTreeNodeImpl* impl;
};

} // namespace SimTK

#endif // SimTK_SIMBODY_CONTACT_GEOMETRY_H_