Primitive.h

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

#ifndef _PRIMITIVE_H
#define _PRIMITIVE_H

#include <map>
#include <vector>
#include <boost/shared_ptr.hpp>
#include <Physsim/Base.h>
#include <Physsim/Matrix3.h>
#include <Physsim/Triangle.h>

class SoNode;
class SoSeparator;
class SoTransform;

namespace Physsim {


class Primitive : public Base
{
        public:
                Primitive();
                Primitive(const Matrix4& T);
                virtual ~Primitive();
                virtual Matrix3 calc_inertia();
                virtual Vector3 calc_com();
                virtual Real calc_mass();
                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 void center();
                virtual SoNode* create_visualization();
                void update_visualization();
                SoSeparator* get_visualization();
                TriangleArrayConstPtr get_tris() const { return _tris; }
                void set_transform(const Matrix4& T);
                std::list<Vector3ConstPtr> get_vertices() const;
                static void transform_inertia(Real mass, const Matrix3& J_in, const Vector3& com_in, const Matrix4& T, Matrix3& J_out, Vector3& com_out);
                void set_max_tri_area(Real max_tri_area);
                Real get_max_tri_area() const { return _max_tri_area; }

                const Matrix4& get_transform() const { return _T; }

                std::vector<Real> det_indexed_mesh_vertices() const;
                std::vector<int> det_indexed_mesh_indices(bool term) const;
//              const std::map<Vector3ConstPtr, unsigned>& get_vertices();
//              SoNode* get_visualization();
                
                void set_mass(Real mass) { _mass = mass; }

                void set_density(Real density) { _density = density; } 


        protected:
                void transform_mesh();
                void subdivide();

                Matrix4 _T;

                Real _mass;

                Real _density;


                TriangleArrayConstPtr _tris;

        private:

//              void set_mesh(const std::vector<TriangleConstPtr>& mesh);
//              void det_vertices_from_mesh(const std::vector<TriangleConstPtr>& mesh);

                Real _max_tri_area;

                SoSeparator* _viz;

                SoTransform* _vtransform;
};

}

#endif

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