Shape.h

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//
// Copyright (c) 2009, Markus Rickert
// All rights reserved.
//
// Redistribution and use in source and binary forms, with or without
// modification, are permitted provided that the following conditions are met:
//
// * Redistributions of source code must retain the above copyright notice,
//   this list of conditions and the following disclaimer.
// * Redistributions in binary form must reproduce the above copyright notice,
//   this list of conditions and the following disclaimer in the documentation
//   and/or other materials provided with the distribution.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
// IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
// ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
// LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
// CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
// SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
// INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
// CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
// ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
// POSSIBILITY OF SUCH DAMAGE.
//
 
#ifndef RL_SG_FCL_SHAPE_H
#define RL_SG_FCL_SHAPE_H
 
#include <memory>
#include <fcl/collision.h>
#include <Inventor/actions/SoCallbackAction.h>
 
#include "../Shape.h"
 
namespace rl
{
    namespace sg
    {
        namespace fcl
        {
            class Shape : public ::rl::sg::Shape
            {
            public:
                Shape(SoVRMLShape* shape, ::rl::sg::Body* body);
                
                virtual ~Shape();
                
                void getTransform(::rl::math::Transform& transform);
                
                void setTransform(const ::rl::math::Transform& transform);
                
                void update(const ::rl::math::Transform& frame);
                
                ::std::shared_ptr< ::fcl::CollisionObject> collisionObject;
                
            protected:
                
            private:
                static void triangleCallback(void* userData, SoCallbackAction* action, const SoPrimitiveVertex* v1, const SoPrimitiveVertex* v2, const SoPrimitiveVertex* v3);
                
                ::rl::math::Transform baseTransform;
                
                ::rl::math::Transform currentFrame;
                
                ::std::vector< ::fcl::FCL_REAL> distances;
                
#if FCL_MAJOR_VERSION < 1 && FCL_MINOR_VERSION < 5
                ::boost::shared_ptr< ::fcl::CollisionGeometry> geometry;
#else
                ::std::shared_ptr< ::fcl::CollisionGeometry> geometry;
#endif
                
                ::std::vector<int> indices;
                
                ::std::vector< ::fcl::Vec3f> normals;
                
                ::std::vector<int> polygons;
                
                ::rl::math::Transform transform;
                
                ::std::vector< ::fcl::Vec3f> vertices;
            };
        }
    }
}
 
#endif // RL_SG_FCL_SHAPE_H