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physics/Sphere

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00001 /****************************************************************************
00002   Copyright (C)1996 David Jung <opensim@pobox.com>
00003 
00004   This program/file is free software; you can redistribute it and/or modify
00005   it under the terms of the GNU General Public License as published by
00006   the Free Software Foundation; either version 2 of the License, or
00007   (at your option) any later version.
00008   
00009   This program is distributed in the hope that it will be useful,
00010   but WITHOUT ANY WARRANTY; without even the implied warranty of
00011   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00012   GNU General Public License for more details. (http://www.gnu.org)
00013   
00014   You should have received a copy of the GNU General Public License
00015   along with this program; if not, write to the Free Software
00016   Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00017   
00018   $Id: Sphere 1031 2004-02-11 20:46:36Z jungd $
00019   $Revision: 1.4 $
00020   $Date: 2004-02-11 15:46:36 -0500 (Wed, 11 Feb 2004) $
00021   $Author: jungd $
00022  
00023 ****************************************************************************/
00024 
00025 #ifndef _PHYSICS_SPHERE_
00026 #define _PHYSICS_SPHERE_
00027 
00028 #include <base/base>
00029 #include <physics/ConvexShape>
00030 #include <base/Dimension3>
00031 
00032 
00033 namespace physics {
00034 
00035 
00036 class Sphere : virtual public ConvexShape
00037 {
00038 public:
00039   Sphere();
00040   explicit Sphere(Real radius);
00041   Sphere(const Sphere& s);
00042   virtual ~Sphere();
00043   
00044   virtual String className() const { return String("Sphere"); }
00045 
00046   Real radius() const { return _radius; }
00047   
00048   // Shape
00049   virtual base::Object& clone() const { return *NewNamedObj(className()) Sphere(*this); }
00050   virtual BoundingBox    getBoundingBox() const { return BoundingBox(-gfx::Point3(_radius,_radius,_radius), gfx::Point3(_radius,_radius,_radius)); }
00051   virtual BoundingSphere getBoundingSphere() const { return BoundingSphere(gfx::Point3(),_radius); }
00052   virtual const MassProperties& getMassProperties(ref<const Material> material) const; 
00053 
00054   virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const Point3& p) const;
00055   virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Segment3& s) const;
00056   virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Triangle3& tri) const;
00057   virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t, const gfx::Quad3& q) const;
00058   virtual gfx::Segment3 shortestSegmentBetween(const base::Transform& t1, ref<const Shape> s, const base::Transform& t2) const;
00059 
00060   // ConvexShape
00061   virtual base::Point3 support(const base::Vector3& v) const;
00062   
00063   // CollisionModelProvider
00064   virtual ref<CollisionModel> getCollisionModel(CollisionModel::CollisionModelType modelType) const;
00065 
00066   // Visual
00067   virtual bool visualTypeSupported(VisualType type) const { return (type==OSGVisual); }
00068   virtual osg::Node* createOSGVisual(Attributes visualAttributes=0) const;
00069 
00070   virtual void serialize(base::Serializer& s);
00071   
00072   // Externalizable
00073   virtual bool formatSupported(String format, Real version = 1.0, ExternalizationType type = IO) const;
00074   virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0);
00075   virtual void externalize(base::Externalizer& e, String format = "", Real version = 1.0) const
00076     { Externalizable::externalize(e,format,version); }
00077 
00078 protected:
00079   osg::Node* createOSGSphere(Visual::Attributes visualAttributes, Int slices) const;
00080 
00081 private:
00082   Real _radius;
00083 
00084   mutable bool massPropertiesCached;
00085   mutable Real density;
00086   mutable MassProperties massProperties;
00087 
00088   mutable Visual::Attributes attributes;
00089   mutable ref_ptr<osg::Node> node;
00090 
00091   mutable ref<CollisionModel> collisionModel;
00092   mutable CollisionModel::CollisionModelType modelType;
00093 };
00094 
00095 
00096 } // physics
00097 
00098 #endif

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