OpenSceneGraph/include/osg/Shape

/* -*-c++-*- OpenSceneGraph - Copyright (C) 1998-2005 Robert Osfield 
 *
 * This library is open source and may be redistributed and/or modified under  
 * the terms of the OpenSceneGraph Public License (OSGPL) version 0.0 or 
 * (at your option) any later version.  The full license is in LICENSE file
 * included with this distribution, and on the openscenegraph.org website.
 * 
 * This library is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the 
 * OpenSceneGraph Public License for more details.
*/

#ifndef OSG_SHAPE
#define OSG_SHAPE 1

#include <osg/Object>
#include <osg/Vec3>
#include <osg/Quat>
#include <osg/Plane>
#include <osg/Array>

namespace osg {

// forward decare visitors.
class ShapeVisitor;
class ConstShapeVisitor;


/** META_StateAttribute macro define the standard clone, isSameKindAs,
  * className and getType methods.
  * Use when subclassing from Object to make it more convenient to define 
  * the standard pure virtual methods which are required for all Object 
  * subclasses.*/
#define META_Shape(library,name) \
        virtual osg::Object* cloneType() const { return new name(); } \
        virtual osg::Object* clone(const osg::CopyOp& copyop) const { return new name (*this,copyop); } \
        virtual bool isSameKindAs(const osg::Object* obj) const { return dynamic_cast<const name *>(obj)!=NULL; } \
        virtual const char* libraryName() const { return #library; } \
        virtual const char* className() const { return #name; } \
        virtual void accept(osg::ShapeVisitor& sv) { sv.apply(*this); } \
        virtual void accept(osg::ConstShapeVisitor& csv) const { csv.apply(*this); }
	
/** Base class for all shape types. 
  * Shapes are used to either for culling and collision detection or
  * to define the geometric shape of procedurally generate Geometry.
*/
class OSG_EXPORT Shape : public Object
{
    public:

        Shape() {}
        
        Shape(const Shape& sa,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Object(sa,copyop) {}
        
        /** Clone the type of an attribute, with Object* return type.
            Must be defined by derived classes.*/
        virtual Object* cloneType() const = 0;

        /** Clone an attribute, with Object* return type.
            Must be defined by derived classes.*/
        virtual Object* clone(const CopyOp&) const = 0;


        /** return true if this and obj are of the same kind of object.*/
        virtual bool isSameKindAs(const Object* obj) const { return dynamic_cast<const Shape*>(obj)!=NULL; }

        /** return the name of the attribute's library.*/
        virtual const char* libraryName() const { return "osg"; }

        /** return the name of the attribute's class type.*/
        virtual const char* className() const { return "Shape"; }

    	/** accept a non const shape visitor which can be used on non const shape objects.
            Must be defined by derived classes.*/
    	virtual void accept(ShapeVisitor&)=0;
	
    	/** accept a const shape visitor which can be used on const shape objects.
            Must be defined by derived classes.*/
    	virtual void accept(ConstShapeVisitor&) const =0;

    protected:
    
    	virtual ~Shape();
};

// forward declarations of Shape types.
class Sphere;
class Box;
class Cone;
class Cylinder;
class Capsule;
class InfinitePlane;

class TriangleMesh;
class ConvexHull;
class HeightField;

class CompositeShape;

class ShapeVisitor
{
    public:
    
    	ShapeVisitor() {}
    
    	virtual void apply(Sphere&) {}
    	virtual void apply(Box&) {}
    	virtual void apply(Cone&) {}
    	virtual void apply(Cylinder&) {}
    	virtual void apply(Capsule&) {}
    	virtual void apply(InfinitePlane&) {}

    	virtual void apply(TriangleMesh&) {}
    	virtual void apply(ConvexHull&) {}
    	virtual void apply(HeightField&) {}

    	virtual void apply(CompositeShape&) {}
};

class ConstShapeVisitor
{
    public:
    
    	ConstShapeVisitor() {}

    	virtual void apply(const Sphere&) {}
    	virtual void apply(const Box&) {}
    	virtual void apply(const Cone&) {}
    	virtual void apply(const Cylinder&) {}
    	virtual void apply(const Capsule&) {}
    	virtual void apply(const InfinitePlane&) {}

    	virtual void apply(const TriangleMesh&) {}
    	virtual void apply(const ConvexHull&) {}
    	virtual void apply(const HeightField&) {}

    	virtual void apply(const CompositeShape&) {}
};

class Sphere : public Shape
{
    public:
    	
        Sphere():
	    _center(0.0f,0.0f,0.0f),
	    _radius(1.0f) {}
	
        Sphere(const osg::Vec3& center,float radius):
	    _center(center),
	    _radius(radius) {}

        Sphere(const Sphere& sphere,const CopyOp& copyop=CopyOp::SHALLOW_COPY):
            Shape(sphere,copyop),
	    _center(sphere._center),
	    _radius(sphere._radius) {}
        
    	META_Shape(osg, Sphere);
	
	inline bool valid() const { return _radius>=0.0f; }
	
	inline void set(const Vec3& center,float radius)
	{
	    _center = center;
	    _radius = radius;
	}

	inline void setCenter(const Vec3& center) { _center = center; }
	inline const Vec3& getCenter() const { return _center; }
	
	inline void setRadius(float radius) { _radius = radius; }
	inline float getRadius() const { return _radius; }

    protected:
    
    	virtual ~Sphere() {}
    
    	Vec3    _center;
	float	_radius;
	
};

class Box : public Shape
{
    public:
    	
        Box():
	    _center(0.0f,0.0f,0.0f),
	    _halfLengths(0.5f,0.5f,0.5f) {}
	
        Box(const osg::Vec3& center,float width):
	    _center(center),
	    _halfLengths(width*0.5f,width*0.5f,width*0.5f) {}

        Box(const osg::Vec3& center,float lengthX,float lengthY, float lengthZ):
	    _center(center),
	    _halfLengths(lengthX*0.5f,lengthY*0.5f,lengthZ*0.5f) {}

        Box(const Box& box,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(box,copyop),
	    _center(box._center),
	    _halfLengths(box._halfLengths),
    	    _rotation(box._rotation) {}
        
    	META_Shape(osg, Box);
	
	inline bool valid() const { return _halfLengths.x()>=0.0f; }
	
	inline void set(const Vec3& center,const Vec3& halfLengths)
	{
	    _center = center;
	    _halfLengths = halfLengths;
	}

	inline void setCenter(const Vec3& center) { _center = center; }
	inline const Vec3& getCenter() const { return _center; }
	
	inline void setHalfLengths(const Vec3& halfLengths) { _halfLengths = halfLengths; }
	inline const Vec3& getHalfLengths() const { return _halfLengths; }
	
    	inline void setRotation(const Quat& quat) { _rotation = quat; }
    	inline const Quat&  getRotation() const { return _rotation; }
    	inline Matrix computeRotationMatrix() const { return Matrix(_rotation); }
    	inline bool zeroRotation() const { return _rotation.zeroRotation(); } 

    protected:
    
    	virtual ~Box() {}
    
    	Vec3    _center;
    	Vec3    _halfLengths;
    	Quat	_rotation;	
	
};



class Cone : public Shape
{
    public:
    	
        Cone():
	    _center(0.0f,0.0f,0.0f),
	    _radius(1.0f),
	    _height(1.0f) {}
	
        Cone(const osg::Vec3& center,float radius,float height):
	    _center(center),
	    _radius(radius),
	    _height(height) {}

        Cone(const Cone& cone,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(cone,copyop),
	    _center(cone._center),
	    _radius(cone._radius),
	    _height(cone._height),
	    _rotation(cone._rotation) {}
        
    	META_Shape(osg, Cone);
	
	inline bool valid() const { return _radius>=0.0f; }
	
	inline void set(const Vec3& center,float radius, float height)
	{
	    _center = center;
	    _radius = radius;
	    _height = height;
	}

	inline void setCenter(const Vec3& center) { _center = center; }
	inline const Vec3& getCenter() const { return _center; }
	
	inline void setRadius(float radius) { _radius = radius; }
	inline float getRadius() const { return _radius; }

	inline void setHeight(float height) { _height = height; }
	inline float getHeight() const { return _height; }

    	inline void setRotation(const Quat& quat) { _rotation = quat; }
    	inline const Quat& getRotation() const { return _rotation; }
    	inline Matrix computeRotationMatrix() const { return Matrix(_rotation); }
    	inline bool zeroRotation() const { return _rotation.zeroRotation(); } 
	
	inline float getBaseOffsetFactor() const { return 0.25f; } 
	inline float getBaseOffset() const { return -getBaseOffsetFactor()*getHeight(); } 

    protected:
    
    	virtual ~Cone() {}
    
    	Vec3    _center;
	float 	_radius;
	float	_height;
	
    	Quat	_rotation;	
};

class Cylinder : public Shape
{
    public:
    	
        Cylinder():
	    _center(0.0f,0.0f,0.0f),
	    _radius(1.0f),
	    _height(1.0f) {}
	
        Cylinder(const osg::Vec3& center,float radius,float height):
	    _center(center),
	    _radius(radius),
	    _height(height) {}

        Cylinder(const Cylinder& cylinder,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(cylinder,copyop),
	    _center(cylinder._center),
	    _radius(cylinder._radius),
	    _height(cylinder._height),
	    _rotation(cylinder._rotation) {}
        
    	META_Shape(osg, Cylinder);
	
	inline bool valid() const { return _radius>=0.0f; }
	
	inline void set(const Vec3& center,float radius, float height)
	{
	    _center = center;
	    _radius = radius;
	    _height = height;
	}

	inline void setCenter(const Vec3& center) { _center = center; }
	inline const Vec3& getCenter() const { return _center; }
	
	inline void setRadius(float radius) { _radius = radius; }
	inline float getRadius() const { return _radius; }

	inline void setHeight(float height) { _height = height; }
	inline float getHeight() const { return _height; }

    	inline void setRotation(const Quat& quat) { _rotation = quat; }
    	inline const Quat& getRotation() const { return _rotation; }
    	inline Matrix computeRotationMatrix() const { return Matrix(_rotation); }
    	bool zeroRotation() const { return _rotation.zeroRotation(); } 

    protected:
    
    	virtual ~Cylinder() {}
    
    	Vec3    _center;
	float 	_radius;
	float	_height;
	
    	Quat	_rotation;	
};

class Capsule : public Shape
{
    public:
    	
        Capsule():
	    _center(0.0f,0.0f,0.0f),
	    _radius(1.0f),
	    _height(1.0f) {}
	
        Capsule(const osg::Vec3& center,float radius,float height):
	    _center(center),
	    _radius(radius),
	    _height(height) {}

        Capsule(const Capsule& capsule,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(capsule,copyop),
	    _center(capsule._center),
	    _radius(capsule._radius),
	    _height(capsule._height),
	    _rotation(capsule._rotation) {}
        
    	META_Shape(osg, Capsule);
	
	inline bool valid() const { return _radius>=0.0f; }
	
	inline void set(const Vec3& center,float radius, float height)
	{
	    _center = center;
	    _radius = radius;
	    _height = height;
	}

	inline void setCenter(const Vec3& center) { _center = center; }
	inline const Vec3& getCenter() const { return _center; }
	
	inline void setRadius(float radius) { _radius = radius; }
	inline float getRadius() const { return _radius; }

	inline void setHeight(float height) { _height = height; }
	inline float getHeight() const { return _height; }

    	inline void setRotation(const Quat& quat) { _rotation = quat; }
    	inline const Quat& getRotation() const { return _rotation; }
    	inline Matrix computeRotationMatrix() const { return Matrix(_rotation); }
    	bool zeroRotation() const { return _rotation.zeroRotation(); } 

    protected:
    
    	virtual ~Capsule() {}
    
    	Vec3    _center;
	float 	_radius;
	float	_height;
	
    	Quat	_rotation;	
};

class InfinitePlane : public Shape, public Plane
{
    public:
    	InfinitePlane() {}
	
        InfinitePlane(const InfinitePlane& plane,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(plane,copyop),
            Plane(plane) {}

     	META_Shape(osg, InfinitePlane);
     	
     protected:
     
        virtual ~InfinitePlane() {}
};

class TriangleMesh : public Shape
{
    public:
    
    	TriangleMesh() {}

        TriangleMesh(const TriangleMesh& mesh,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(mesh,copyop),
	    _vertices(mesh._vertices),
	    _indices(mesh._indices) {}
        
    	META_Shape(osg, TriangleMesh);
	
	
	void setVertices(Vec3Array* vertices) { _vertices = vertices; }
	Vec3Array* getVertices() { return _vertices.get(); }
	const Vec3Array* getVertices() const { return _vertices.get(); }
	
	
	void setIndices(IndexArray* indices) { _indices = indices; }
	IndexArray* getIndices() { return _indices.get(); }
	const IndexArray* getIndices() const { return _indices.get(); }
	
    protected:
    
    	~TriangleMesh() {}
	
	ref_ptr<Vec3Array> _vertices;
	ref_ptr<IndexArray> _indices;
    	
};

class ConvexHull : public TriangleMesh
{
    public:
    
    	ConvexHull() {}
	
        ConvexHull(const ConvexHull& hull,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            TriangleMesh(hull,copyop) {}
        
    	META_Shape(osg, TriangleMesh);
	
    protected:
    
    	~ConvexHull() {}
};

class OSG_EXPORT HeightField : public Shape
{
    public:
    
    	HeightField():
	    _columns(0),
	    _rows(0),
	    _origin(0.0f,0.0f,0.0f),
	    _dx(1.0f),
	    _dy(1.0f),
            _skirtHeight(0.0f),
            _borderWidth(0) {}

        HeightField(const HeightField& mesh,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(mesh,copyop),
	    _columns(mesh._columns),
	    _rows(mesh._rows),
	    _origin(mesh._origin),
	    _dx(mesh._dx),
	    _dy(mesh._dy),
            _skirtHeight(mesh._skirtHeight),
            _borderWidth(mesh._borderWidth),
            _heights(mesh._heights) {}
        
    	META_Shape(osg, HeightField);

    	typedef std::vector<float> HeightList;

    	void allocate(unsigned int numColumns,unsigned int numRows);

	// deprecated.
    	void allocateGrid(unsigned int numColumns,unsigned int numRows) { allocate(numColumns,numRows); }

	inline unsigned int getNumColumns() const { return _columns; }
	inline unsigned int getNumRows() const { return _rows; }

    	inline void setOrigin(const osg::Vec3& origin) { _origin = origin; }
    	inline const osg::Vec3& getOrigin() const { return _origin; }

	inline void setXInterval(float dx) { _dx = dx; }
	inline float getXInterval() const { return _dx; }

	inline void setYInterval(float dy) { _dy = dy; }
	inline float getYInterval() const { return _dy; }

	
        /** Set the height of the skirt to render around the edge of HeightField.
          * The skirt is used as a means of disguising edge boundaries between adjacent HeightField, 
          * particularly of ones with different resolutions.*/
        void setSkirtHeight(float skirtHeight) { _skirtHeight = skirtHeight; }
        
        /** Get the height of the skirt to render around the edge of HeightField.*/
        float getSkirtHeight() const { return _skirtHeight; }
        
        /** Set the width in number of cells in from the edge that the height field should be rendered from.
          * This exists to allow gradient and curvature continutity to be maintained between adjacent HeightField, where
          * the border cells will overlap adjacent HeightField.*/
        void setBorderWidth(unsigned int borderWidth) { _borderWidth = borderWidth; }

        /** Get the width in number of cells in from the edge that the height field should be rendered from.*/
        unsigned int getBorderWidth() const { return _borderWidth; }

    	inline void setRotation(const Quat& quat) { _rotation = quat; }
    	inline const Quat& getRotation() const { return _rotation; }
    	inline Matrix computeRotationMatrix() const { return Matrix(_rotation); }
    	inline bool zeroRotation() const { return _rotation.zeroRotation(); } 
        
    /* set a single height point in the height field */
	inline void setHeight(unsigned int c,unsigned int r,float value)
	{
	   _heights[c+r*_columns] = value;
	}

    /* Get address of single height point in the height field, allows user to change. */
	inline float& getHeight(unsigned int c,unsigned int r)
	{
	   return _heights[c+r*_columns];
	}

    /* Get value of single height point in the height field, not editable. */
	inline float getHeight(unsigned int c,unsigned int r) const
	{
	   return _heights[c+r*_columns];
	}

	HeightList& getHeightList() { return _heights; }
	const HeightList& getHeightList() const { return _heights; }

        inline Vec3 getVertex(unsigned int c,unsigned int r) const
        {
            return Vec3(_origin.x()+getXInterval()*(float)c,
                        _origin.y()+getYInterval()*(float)r,
                        _origin.z()+_heights[c+r*_columns]);  
        }
        
        Vec3 getNormal(unsigned int c,unsigned int r) const;

    protected:
    
    	virtual ~HeightField();

    	unsigned int    _columns,_rows;

	osg::Vec3       _origin;
	float	        _dx;
	float	        _dy;
	
        float           _skirtHeight;
        unsigned int    _borderWidth;

	Quat            _rotation;
	HeightList      _heights;
        
};

typedef HeightField Grid;


class CompositeShape : public Shape
{
    public:


    
    	typedef std::vector< ref_ptr<Shape> > ChildList;
    
    	CompositeShape() {}

        CompositeShape(const CompositeShape& cs,const CopyOp& copyop=CopyOp::SHALLOW_COPY): 
            Shape(cs,copyop),
	    _children(cs._children) {}
        
    	META_Shape(osg, CompositeShape);

    	/** Set the shape that encloses all of the children.*/	
	void setShape(Shape* shape) { _shape = shape; }

    	/** Get the shape that encloses all of the children.*/	
	Shape* getShape() { return _shape.get(); }

    	/** Get the const shape that encloses all of the children.*/	
	const Shape* getShape() const { return _shape.get(); }
	
	/** Get the number of children of this composite shape.*/
	unsigned int getNumChildren() const { return _children.size(); }
	
	/** Get a child.*/
	Shape* getChild(unsigned int i) { return _children[i].get(); }

	/** Get a const child.*/
	const Shape* getChild(unsigned int i) const { return _children[i].get(); }

	/** Add a child to the list.*/
	void addChild(Shape* shape) { _children.push_back(shape); }
	
	/** remove a child from the list.*/
	void removeChild(unsigned int i) { _children.erase(_children.begin()+i); }

	/** find the index number of child, if child is not found then it returns getNumChildren(),
	  * so should be used in similar style to STL's result!=end().*/ 
	unsigned int findChildNo(Shape* shape) const
        { 
            for (unsigned int childNo=0;childNo<_children.size();++childNo)
            {
                if (_children[childNo]==shape) return childNo;
            }
            return _children.size(); // node not found.

        }
	
    protected:
    
    	~CompositeShape() {}

    	ref_ptr<Shape>	_shape;
	ChildList   	_children;

};

}

#endif