CollisionGeometry.h

/****************************************************************************
 * Copyright 2005 Evan Drumwright
 * This library is distributed under the terms of the GNU General Public 
 * License (found in COPYING).
 ****************************************************************************/

#ifndef _COLLISION_GEOMETRY_H
#define _COLLISION_GEOMETRY_H

#include <list>
#include <vector>
#include <map>
#include <boost/shared_ptr.hpp>
#include <boost/weak_ptr.hpp>
#include <Physsim/Constants.h>
#include <Physsim/Base.h>
#include <Physsim/Triangle.h>
#include <Physsim/Matrix4.h>
#include <Physsim/Primitive.h>

namespace Physsim {

class RigidBody;        


class CollisionGeometry : public Base
{
        public:
                CollisionGeometry();
                CollisionGeometryPtr get_child(unsigned i) const; 
                virtual void clone(BasePtr& cloned, bimap<BasePtr, BasePtr>* obj_map = NULL) const;
                virtual void load_state(BaseConstPtr object, bimap<BasePtr, BasePtr>* correspondence = NULL);
                virtual void save_state(BasePtr object, bimap<BasePtr, BasePtr>* correspondence = NULL) const;
                bool is_struct_identical(BaseConstPtr object) const;
                void set_transform(const Matrix4& transform, bool rel_transform_accounted);     
                void write_vrml(const std::string& filename) const;
                void set_geometry(PrimitiveConstPtr primitive);
                void set_rel_transform(const Matrix4& transform);
                std::list<CollisionGeometryPtr> get_sub_geometries() const;
                virtual void save_to_xml(XMLTreePtr node, std::list<BaseConstPtr>& shared_objects) const;
                virtual void load_from_xml(XMLTreeConstPtr node, std::map<std::string, BasePtr>& id_map);
                void set_max_tri_area(Real area);

                Real get_max_tri_area() const { return _max_tri_area; }


                TriangleArrayConstPtr get_mesh() const { return _geometry->get_tris(); }        

                boost::weak_ptr<CollisionGeometry> get_parent() const { return _parent; }
                
                void set_parent(boost::weak_ptr<CollisionGeometry> parent) { _parent = parent; }

                unsigned num_children() const { return _children.size(); }

                const std::vector<CollisionGeometryPtr>& get_children() const { return _children; }
                
                CollisionGeometryPtr get_child(unsigned i) { return _children[i]; }
                
                void add_child(CollisionGeometryPtr child);

                const Matrix4& get_transform() const { return _transform; }
                
                const Matrix4& get_rel_transform() const { return _rel_transform; }
                
                void* get_collision_data() const { return _collisiondata; }
                
                void set_collision_data(void* data) { _collisiondata = data; }
                
                boost::weak_ptr<RigidBody> get_rigid_body() const { return _rigid_body; }

                void set_rigid_body(boost::weak_ptr<RigidBody> r) { _rigid_body = r; }
                
                bool is_convex() const { return _convex; }

                PrimitiveConstPtr get_geometry() const { return _geometry; }

        protected:
                Matrix4 _transform;
        
                Matrix4 _rel_transform;

        private:
                bool _rel_transform_identity;
                bool _convex;
                boost::weak_ptr<RigidBody> _rigid_body;
                boost::weak_ptr<CollisionGeometry> _parent;
                std::vector<CollisionGeometryPtr> _children;
                void* _collisiondata;
                PrimitiveConstPtr _geometry;
                Real _max_tri_area;
};
}

#endif

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