base/LineSegPathRep

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/****************************************************************************
  Copyright (C)2002 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: LineSegPathRep 1029 2004-02-11 20:45:54Z jungd $
  $Revision: 1.3 $
  $Date: 2004-02-11 15:45:54 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _BASE_LINESEGPATHREP_
#define _BASE_LINESEGPATHREP_

#include <base/PathRep>
#include <base/Math>


namespace base {


/// Concrete path representation as a line segment
class LineSegPathRep : public PathRep
{
public:
  LineSegPathRep() 
    : flags(ConstPos | ConstOrient) {}
  LineSegPathRep(const Point3& sp, const Orient& so, const Point3& ep, const Orient& eo)
    : sp(sp), so(so), ep(ep), eo(eo), flags(None)
  {
    if (sp == ep) flags |= ConstPos;
    if (so == eo) flags |= ConstOrient;
  }

  virtual Object& clone() const
    { return *NewObj LineSegPathRep(sp, so, ep, eo); }

  virtual String className() const { return String("LineSegPathRep"); }

  /// get cartesian position at s:[0..1]
  virtual Point3 position(Real s) const
  {
    if (flags & ConstPos)
      return sp;
    else {
      Math::bound(s,0.0,1.0);
      return sp+(s*(ep-sp));
    }
  }

  /// get orientation at s:[0..1]
  virtual Orient orientation(Real s) const
  {
    if (flags & ConstOrient)
      return so;
    else
      return Orient::interpolate(so, eo, s);
  }


  /// translate the path position by t
  virtual void translate(const Vector3& t)
  { sp += t; ep += t; }

  /// rotate the path orientation by r
  virtual void rotate(const Quat4& r)
  {
    r.rotatePoint(sp);
    r.rotatePoint(ep);
    Quat4 sq(so.getQuat4()); 
    Quat4 eq(eo.getQuat4());
    so = r*sq;
    eo = r*eq;
  }


  /// transform the path by m
  virtual void transform(const Matrix4& m)
  {
    Point4 sp4(sp);
    sp4 = m*sp4;
    sp = Point3(sp4.x,sp4.y,sp4.z);

    Point4 ep4(ep);
    ep4 = m*ep4;
    ep = Point3(ep4.x,ep4.y,ep4.z);
    
    Quat4 r;
    r.setRotation(m);
    Quat4 sq(so.getQuat4());
    Quat4 eq(eo.getQuat4());
    so = r*sq;
    eo = r*eq;
  }


  virtual void scalePosition(Real s)
  {
    sp *= s;
    ep *= s;
  }


  virtual void serialize(Serializer& s) 
  { 
    s(flags,"flags");
    s(sp,"startPoint");
    s(so,"startOrient");
    s(ep,"endPoint");
    s(eo,"endOrient");
  }

protected:
  Point3 sp; ///< start pos
  Orient so; ///< start orient
  Point3 ep; ///< end pos
  Orient eo; ///< end orient

  enum Flags { None=0, ConstPos=1, ConstOrient=2 };
  Int flags;
};


} // base

#endif

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