physics/Shape

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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: Shape 1031 2004-02-11 20:46:36Z jungd $
  $Revision: 1.7 $
  $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
  $Author: jungd $
 
****************************************************************************/

#ifndef _PHYSICS_SHAPE_
#define _PHYSICS_SHAPE_

#include <physics/physics>
#include <physics/CollisionModelProvider>
#include <gfx/Visual>
#include <base/Serializable>
#include <base/Externalizable>

#include <base/Serializer>
#include <base/Transform>
#include <gfx/Segment3>
#include <gfx/Quad3>
#include <physics/BoundingBox>
#include <physics/BoundingSphere>
#include <physics/MassProperties>


namespace physics {

class Material;


class Shape : public CollisionModelProvider, 
              public gfx::Visual, public base::Serializable, public base::Externalizable,
              public base::ReferencedObject
{
public:
  Shape()
    : shapeHasAppearance(false) {}
  virtual ~Shape() {}
  virtual BoundingBox    getBoundingBox() const = 0;
  virtual BoundingSphere getBoundingSphere() const = 0;
  
  virtual bool isConvex() const = 0;
  virtual bool includesAppearance() const { return shapeHasAppearance; }
  virtual void setIncludesAppearance(bool appearanceIncluded) { shapeHasAppearance=appearanceIncluded; }

  virtual const MassProperties& getMassProperties(ref<const Material> material) const = 0;

  
  // distance computation methods
  
  /// return the shortest segment between this shape (in configuration t) and the point p (the returned segment will always end with p)
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const Point3& p) const = 0;

  /// return the shortest segment between this shape (in configuration t) and the segment s
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Segment3& s) const = 0;

  /// return the shortest segment between this shape (in configuration t) and the triangle t
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Triangle3& tri) const = 0;
  
  /// return the shortest segment between this shape (in configuration t) and the quad q
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Quad3& q) const = 0;
  
  /// return the shortest segment between this shape (in configuration t1) and the shape s (in configuration t2)
  virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t1, ref<const Shape> s, const base::Transform& t2) const = 0;
   
   
  /// create a new concrete Shape (subclass) based on the next element that appears in the Input Externalizer stream
  ref<Shape> createShapeFromInput(base::Externalizer& e, String format = "", Real version = 1.0);
  
  /// deprecated.
  base::ref<CollisionModel> getCollisionModel(CollisionModel::CollisionModelType modelType) const;

protected:
  Shape(const Shape& s) 
    : shapeHasAppearance(s.shapeHasAppearance) {}

  // create a visual of the shape's axes for debugging etc.
  static osg::Node* createOSGAxes(const base::Dimension3& dim);

  bool shapeHasAppearance;

  // convenience method to get a collision model from the triangles in a visual
  //  (if specific model for the shape is available)
  ref<CollisionModel> getCollisionModelFromVisual(CollisionModel::CollisionModelType modelType) const;

};


} // physics

#endif

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