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Box.hpp

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//
//      Title           : Box.hpp
//      Project         : OSCAR
//      Created         : Oct 25, 2004
//      Author          : Andrew Spencer
//      Platforms       : All
//      Copyright       : Copyright© The University of Texas at Austin, 2002. All rights reserved.
//                 
//          This software and documentation constitute an unpublished work
//          and contain valuable trade secrets and proprietary information
//          belonging to the University. None of the foregoing material may be
//          copied or duplicated or disclosed without the express, written
//          permission of University. THE UNIVERSITY EXPRESSLY DISCLAIMS ANY
//          AND ALL WARRANTIES CONCERNING THIS SOFTWARE AND DOCUMENTATION,
//          INCLUDING ANY WARRANTIES OF MERCHANTABILITY AND/OR FITNESS FOR A
//          PARTICULAR PURPOSE, AND WARRANTIES OF PERFORMANCE, AND ANY WARRANTY
//          THAT MIGHT OTHERWISE ARISE FROM COURSE OF DEALING OR USAGE OF TRADE.
//          NO WARRANTY IS EITHER EXPRESS OR IMPLIED WITH RESPECT TO THE USE OF
//          THE SOFTWARE OR DOCUMENTATION. Under no circumstances shall the
//          University be liable for incidental, special, indirect, direct or
//          consequential damages or loss of profits, interruption of business,
//          or related expenses which may arise from use of software or documentation,
//          including but not limited to those resulting from defects in software
//          and/or documentation, or loss or inaccuracy of data of any kind.
//       Purpose         : A rectangular box obstacle, made up of six zero radius planes
//
//       $Revisions$
//
//       $Log: Box.hpp,v $
//       Revision 1.9  2005/11/23 16:59:11  aspencer
//       Corrected an error in how the global corner points were calculated.
//
//       Revision 1.8  2005/06/21 15:31:07  aspencer
//       Re-wrapped the hpp files with _SOLID ifdefs, per chetan.
//
//       Revision 1.7  2005/06/16 16:59:34  chetan
//       Issues with base class constructors not being called, etc.
//
//       Revision 1.6  2005/06/10 17:03:16  josh
//       Added Clone method.
//
//       Revision 1.5  2005/06/07 23:07:58  aspencer
//       Added a virtual update function to ModelingObject. Made all inheriting, implemented Update functions virtual as well.
//
//       Revision 1.4  2005/06/07 18:20:45  aspencer
//       Changed how SOLID functionality was implemented so that there are no #ifdef _SOLID tags in the header files which would cause errors when the header file was included in another library.
//
//       Revision 1.3  2005/06/06 23:26:12  aspencer
//       Changed all "SetInfo" functions to be "SetProperties" functions.
//
//       Revision 1.2  2005/06/06 14:21:53  chetan
//       Changed SetInfo method name to SetProperties
//
//       Revision 1.1  2005/06/03 18:15:38  aspencer
//       Removed the "Ob" designation from all primitive names (BoxOb is now Box, etc). Changed "CylOb" to "Cylisphere".
//
//       Revision 1.21  2005/06/02 16:38:56  aspencer
//       Moved the protected attribute localToGlobal Xform from BoxOb.hpp, ConeOb.hpp, and SkeletalPrimitive.hpp to the abstract base class ModelingObject.hpp
//
//       Revision 1.20  2005/06/01 22:27:26  chetan
//       Made changes to copyright headers
//
//       Revision 1.19  2005/06/01 19:51:04  aspencer
//       Made further changes to commenting.
//
//       Revision 1.18  2005/06/01 16:37:24  aspencer
//       Continued re-naming of functions and updating of documentation.
//
//       Revision 1.17  2005/05/31 19:38:40  aspencer
//       Changes to various function names in the primitive classes (trying to fit the "Get/Set" scheme of the rest of OSCAR). Also moved some code in primitive files from .hpp to .cpp, as it should be.
//
//       Revision 1.16  2005/05/27 16:32:11  aspencer
//       Corrected Header File
//
//       Revision 1.15  2005/05/27 15:56:48  aspencer
//       Changed "Reference" enumeration to "ReferenceFrame"
//
//       Revision 1.14  2005/05/26 21:01:53  aspencer
//       Changed "obstacle" to "primitive" in both the obstacle and the skeletalobstacle class. Inserted "modeling object" abstract class, which primitive (was obstacle) now inherits from. Updated the rest of OSCAR to reflect this.
//
//       Revision 1.13  2005/05/06 18:46:26  aspencer
//       Added ingroup specifications into doxygen commenting (thanks Peter)
//
//       Revision 1.12  2005/05/03 17:29:27  aspencer
//       no message
//
//       Revision 1.11  2005/05/02 22:18:54  aspencer
//       Added solid functionality. This is as yet untested as boxob is not fully integrated into the rest of OA.
//
//       Revision 1.10  2005/04/29 16:27:54  aspencer
//       Moved BoxOb from deriving from skeletalobstacle to deriving from obstacle. Also changed how the object is created and added appropriate functionality. SOLID functionality has not been implemented.
//
//       Revision 1.9  2005/04/21 22:06:19  aspencer
//       Inserted a new "skeletalobstacle" abstract class which inherits from obstacle. Planes, spheres and cylispheres now all inherit from this new class.
//
//       Revision 1.8  2005/03/18 20:06:20  chetan
//       Enabled W4 level warnings and fixed warnings
//
//       Revision 1.7  2005/03/18 19:20:22  chetan
//       Fixed errors under g++ compile
//
//       Revision 1.6  2005/03/14 21:26:43  aspencer
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.5  2005/02/23 14:06:45  aspencer
//       Changed many things while implementing in OSCAR
//
//       Revision 1.4  2004/11/12 18:56:40  aspencer
//       Changed the initial 'i' value in the z portion of "PopulatePoints" from i=1 to i=0. With i=1 not all points are being given the correct value.
//
//       Revision 1.3  2004/10/27 21:09:53  aspencer
//       Added an author tag for doxygen
//
//       Revision 1.2  2004/10/26 21:29:53  aspencer
//       Discarded the six seperate Planes and made a six long vector of Planes.
//
//       Revision 1.1  2004/10/25 18:04:53  aspencer
//       Initial Commit
//
#ifndef Box_h
#define Box_h

//Includes go here
#include "Primitive.hpp"
#include "Plane.hpp"
#include <vector>

namespace OSCAR { 

class Box : public Primitive {
public:

  Box(const double xDimen, const double yDimen, const double zDimen, const Xform& pose); //Constructor

  Box(const Box& arg) : Primitive(arg) {
    this->operator=(arg);
  } 

  Box();

        virtual Box* Clone() const;

  const vector<Plane>& GetPlanes() const { return planes; }

  const vector<unsigned int>& GetAdjacentVertices(unsigned int index) const;

  const vector<unsigned int>& GetAdjacentPlanes(unsigned int index) const;

  const vector<Vector3>& GetPoints(ReferenceFrame globalOrLocal = Global) const {return point[globalOrLocal];}

  bool SetProperties(const double xDimen, const double yDimen, const double zDimen, const Xform& pose);

  bool SetXDim(const double xDimen);

  bool SetYDim(const double yDimen);

  bool SetZDim(const double zDimen);

  bool SetLocalTransform(const Xform& inFrameTransform);

  double GetXDim() const {return xDim;}

  double GetYDim() const {return yDim;}

  double GetZDim() const {return zDim;}

  const Xform& GetLocalTransform() const {return localTransform;}

  virtual bool Update(const Xform& transform);
  
  Box& operator=(const Box& rhs);

  Xform& GetCompleteXform();
protected:

  double xDim, yDim, zDim;
  Xform localTransform;
  Xform fullTransform;
  bool populatePoints();
  bool updatePlanes();
  bool populateMaps();
  bool TransformInternalToLocal();
  std::vector<Plane> planes;
  std::vector<Vector3> internalPoint;
  std::vector<Vector3> point[2];
  //std::map<const Vector3*, const Vector3*
  unsigned int vertexMap[8][3];              
  unsigned int planeMap[8][3];
#if defined _SOLID
  virtual bool createSolid();
#endif
};

//Inline include
#include "Box.ipp"
}  //namespace OSCAR
#endif //box_h

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