Shape.hpp

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#ifndef DART_DYNAMICS_SHAPE_HPP_
#define DART_DYNAMICS_SHAPE_HPP_
 
#include <memory>
 
#include <Eigen/Dense>
 
#include "dart/common/ClassWithVirtualBase.hpp"
#include "dart/common/Deprecated.hpp"
#include "dart/common/Signal.hpp"
#include "dart/common/Subject.hpp"
#include "dart/common/VersionCounter.hpp"
#include "dart/dynamics/SmartPointer.hpp"
#include "dart/math/Geometry.hpp"
 
namespace dart {
namespace dynamics {
 
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_BEGIN
class Shape : public virtual common::Subject,
              public virtual common::VersionCounter
{
public:
  using VersionChangedSignal
      = common::Signal<void(Shape* shape, std::size_t version)>;
 
  enum ShapeType
  {
    SPHERE,
    BOX,
    ELLIPSOID,
    CYLINDER,
    CAPSULE,
    CONE,
    PYRAMID,
    RECTANGULAR_PYRAMID,
    PLANE,
    MULTISPHERE,
    MESH,
    SOFT_MESH,
    LINE_SEGMENT,
    HEIGHTMAP,
    UNSUPPORTED
  };
 
  enum DataVariance
  {
    STATIC = 0, 
    DYNAMIC_TRANSFORM
    = 1 << 1, 
    DYNAMIC_PRIMITIVE = 1 << 2, 
    DYNAMIC_COLOR
    = 1 << 3, 
    DYNAMIC_VERTICES
    = 1 << 4, 
    DYNAMIC_ELEMENTS
    = 1 << 5, 
    DYNAMIC = 0xFF 
  };
 
  explicit Shape(ShapeType _type);
 
  Shape();
 
  virtual ~Shape();
 
  virtual const std::string& getType() const = 0;
 
  template <typename ShapeT>
  bool is() const;
 
  const math::BoundingBox& getBoundingBox() const;
 
  virtual Eigen::Matrix3d computeInertia(double mass) const = 0;
 
  Eigen::Matrix3d computeInertiaFromDensity(double density) const;
 
  Eigen::Matrix3d computeInertiaFromMass(double mass) const;
 
  double getVolume() const;
 
  std::size_t getID() const;
 
  DART_DEPRECATED(6.1)
  ShapeType getShapeType() const;
 
  void setDataVariance(unsigned int _variance);
 
  void addDataVariance(unsigned int _variance);
 
  void removeDataVariance(unsigned int _variance);
 
  unsigned int getDataVariance() const;
 
  bool checkDataVariance(DataVariance type) const;
 
  virtual void refreshData();
 
  DART_DEPRECATED(6.2)
  virtual void notifyAlphaUpdate(double alpha);
 
  virtual void notifyAlphaUpdated(double alpha);
 
  DART_DEPRECATED(6.2)
  virtual void notifyColorUpdate(const Eigen::Vector4d& color);
 
  virtual void notifyColorUpdated(const Eigen::Vector4d& color);
 
  std::size_t incrementVersion() override final;
 
protected:
  virtual void updateVolume() const = 0;
 
  virtual void updateBoundingBox() const = 0;
 
  mutable math::BoundingBox mBoundingBox;
 
  mutable bool mIsBoundingBoxDirty;
 
  mutable double mVolume;
 
  mutable bool mIsVolumeDirty;
 
  const std::size_t mID;
 
  unsigned int mVariance;
 
  static std::atomic_int mCounter;
 
  ShapeType mType;
 
private:
  VersionChangedSignal mVersionChangedSignal;
 
public:
  common::SlotRegister<VersionChangedSignal> onVersionChanged;
};
DART_DECLARE_CLASS_WITH_VIRTUAL_BASE_END
 
} // namespace dynamics
} // namespace dart
 
#include "dart/dynamics/detail/Shape.hpp"
 
#endif // DART_DYNAMICS_SHAPE_HPP_