physics/Box

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/* **-*-c++-*-**************************************************************
  Copyright (C)1996 David Jung <opensim@pobox.com>

  This program/file is free software; you can redistribute it and/or modify
  it under the terms of the GNU General Public License as published by
  the Free Software Foundation; either version 2 of the License, or
  (at your option) any later version.
  
  This program is distributed in the hope that it will be useful,
  but WITHOUT ANY WARRANTY; without even the implied warranty of
  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
  GNU General Public License for more details. (http://www.gnu.org)
  
  You should have received a copy of the GNU General Public License
  along with this program; if not, write to the Free Software
  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
  
  $Id: Box 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.6 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
  
****************************************************************************/

#ifndef _PHYSICS_BOX_
#define _PHYSICS_BOX_

#include <base/ref>

#include <base/Dimension3>
#include <base/Serializable>
#include <gfx/Segment3>
#include <gfx/Triangle3>
#include <gfx/Quad3>

#include <physics/physics>
#include <physics/ConvexShape>

#include <gfx/Visual>


namespace physics {


class Box : virtual public ConvexShape
{
public:
  Box(Real width=1.0, Real height=1.0, Real depth=1.0);
  Box(const Box& b);
  virtual ~Box();

  virtual String className() const { return String("Box"); }
  virtual base::Object& clone() const { return *NewNamedObj(className()) Box(*this); }

  const base::Dimension3& dimensions() const { return dim; }

  // Shape
  virtual BoundingBox    getBoundingBox() const { return BoundingBox(-dim/2.0,dim/2.0); }
  virtual BoundingSphere getBoundingSphere() const { return BoundingSphere(base::Point3(),Math::maximum(dim.x,dim.y,dim.z)/2.0); }
  virtual const MassProperties& getMassProperties(ref<const Material> material) const;

  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const Point3& p) const;
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Segment3& s) const;
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Triangle3& tri) const;
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Quad3& q) const;
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t1, ref<const Shape> s, const base::Transform& t2) const;

  // ConvexShape
  virtual base::Point3 support(const base::Vector3& v) const;

  // CollisionModelProvider
  virtual ref<CollisionModel> getCollisionModel(CollisionModel::CollisionModelType modelType) const;

  // Visual
  virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
  virtual osg::Node* createOSGVisual(Attributes visualAttributes=0) const;

  virtual void serialize(base::Serializer& s);
  
  // Externalizable
  virtual bool formatSupported(String format, Real version = 1.0, ExternalizationType type = IO) const;
  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0);
  virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0) const
    { Externalizable::externalize(e,format,version); }
  
protected:
  /// return array of 6 quads that mke up the faces of this box
  array<gfx::Quad3> asQuads() const;
  
private:
  base::Dimension3 dim;
  
  mutable bool massPropertiesCached;
  mutable Real density;
  mutable MassProperties massProperties;

  mutable Visual::Attributes attributes;
  mutable ref_ptr<osg::Node> node;

  mutable ref<CollisionModel> collisionModel;
  mutable CollisionModel::CollisionModelType modelType;
};


} // physics

#endif

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