Cylinder.h

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

#ifndef _CYLINDER_H
#define _CYLINDER_H

#include <Physsim/Primitive.h>

namespace Physsim {

class Cylinder : public Primitive
{
        public:
                Cylinder();
                Cylinder(Real radius, Real height);
                Cylinder(Real radius, Real height, unsigned recursion_level, const Matrix4& T);
                Cylinder(Real radius, Real height, const Matrix4& T);
                void set_radius(Real radius);
                void set_height(Real height);
                void set_recursion_level(unsigned level);
                virtual void load_from_xml(XMLTreeConstPtr node, std::map<std::string, BasePtr>& id_map);
                virtual void save_to_xml(XMLTreePtr node, std::list<BaseConstPtr>& shared_objects) const;
                virtual Matrix3 calc_inertia();
                virtual Real calc_mass();
                virtual SoNode* create_visualization();

                Real get_radius() const { return _radius; }

                Real get_height() const { return _height; }


                unsigned get_recursion_level() const { return _rlevel; }
                
                virtual Vector3 calc_com() { return _T.get_translation(); }
                        
        private:
                void recompute_mesh();
                static void triangulate(std::vector<TriangleConstPtr>& mesh, const std::vector<Vector3ConstPtr>& vertices);
        
                Real _radius;
                Real _height;
                unsigned _rlevel;
};

}

#endif

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