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Primitive.hpp

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//
//       Title           : Primitive.hpp
//       Project         : OSCAR
//       Created         : Dec 16, 1996
//       Author          : Troy Harden
//       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//          This software and documentation constitute an unpublished work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         : Abstract obstacle .  Defines the obstacle
//                         interface for the various obstacles.
//
//----------------------------------------------------------------------------
//
//       $Revisions$
//
//       $Log: Primitive.hpp,v $
//       Revision 1.17  2007/09/14 21:17:17  acs487
//       Made the solid include path explicit in the .h file so when it was included in other sources the file path wouldn't need to be included in the project.
//
//       Revision 1.16  2007/09/12 21:38:31  acs487
//       Uploaded code associated with collision detection.
//
//       Revision 1.15  2005/12/09 16:07:59  josh
//       Added -D_SOLID to make files. Added solid-3.5/include to include path.
//
//       Revision 1.14  2005/06/16 19:47:04  aspencer
//       Fixed issues with constructors, copy constructors, and operator=
//
//       Revision 1.13  2005/06/16 16:59:35  chetan
//       Issues with base class constructors not being called, etc.
//
//       Revision 1.12  2005/06/16 16:29:03  chetan
//       Added #if defined _SOLID directives correctly to remove SOLID dependency
//
//       Revision 1.11  2005/06/15 15:51:40  aspencer
//       Eliminated warning in Update method.
//
//       Revision 1.10  2005/06/10 17:03:19  josh
//       Added Clone method.
//
//       Revision 1.9  2005/06/07 20:11:53  aspencer
//       Changed over to the new version of Node. Made appropriate changes in other files as a result. LoadRev2File in ObAvData no longer populates a node tree.
//
//       Revision 1.8  2005/06/07 18:20:47  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 1.7  2005/06/06 23:26:14  aspencer
//       Changed all "SetInfo" functions to be "SetProperties" functions.
//
//       Revision 1.6  2005/06/06 20:16:02  aspencer
//       operator= was not calling base class operator=
//
//       Revision 1.5  2005/06/01 22:27:33  chetan
//       Made changes to copyright headers
//
//       Revision 1.4  2005/06/01 19:51:06  aspencer
//       Made further changes to commenting.
//
//       Revision 1.3  2005/05/31 19:38:43  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 1.2  2005/05/27 15:56:49  aspencer
//       Changed "Reference" enumeration to "ReferenceFrame"
//
//       Revision 1.1  2005/05/26 21:02:43  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/Initial Commit
//
//       Revision 1.18  2005/04/28 17:29:28  aspencer
//       Completed changeover to using the Local/Global functionality. If SOLID is being used and an updateinfo type function is called on either local or global points, the SOLID object will be destroyed and recreated accordingly.
//
//       Revision 1.17  2005/04/26 22:18:55  aspencer
//       Added the functionality to have SOLID do any cylisphere-cylisphere calculations
//
//       Revision 1.16  2005/04/21 16:28:00  aspencer
//       Inserted a new "skeletalobstacle" abstract class which inherits from obstacle. Planes, spheres and cylispheres now all inherit from this new class.
//
//       Revision 1.15  2005/04/08 18:40:58  aspencer
//       Added solid include file and new solid related member variable
//
//       Revision 1.14  2005/04/01 18:12:00  chetan
//       removed pragma directive and made it specific to MSVC in Base/CommIncludes.h
//
//       Revision 1.13  2005/03/14 22:06:23  aspencer
//       Added to namespace OSCAR and removed "RR" from front of class names.
//
//       Revision 1.12  2004/10/25 20:07:05  aspencer
//       Updated commenting
//
//       Revision 1.11  2004/08/10 16:48:38  aspencer
//       Disabled warning 4786 to prevent the deluge of warnings when building the ob avoid library.
//
//       Revision 1.10  2004/07/07 18:38:42  aspencer
//       Made changes in association with eliminating the individual obstacle types and moving all functionality to "obstacle"
//
//       Revision 1.9  2004/06/04 21:03:07  aspencer
//       -Added Primitive constructor for the creation of a generic obstacle object (not specifically a sphere, plane, cylinder, etc.)
//
//       Revision 1.8  2004/05/28 19:20:20  eswint
//       - Added the \ingroup Primitive Avoidance for Doxygen commenting
//
//       Revision 1.7  2004/05/25 16:41:16  eswint
//       - Corrected commenting
//
//       Revision 1.6  2004/05/23 15:47:58  eswint
//       -Added a normal vector for Obstacles that have 3 or more points
//
//       Revision 1.5  2004/05/20 14:06:41  eswint
//       - Put all files in the OSCAR namespace
//
//       Revision 1.4  2004/05/11 18:56:37  eswint
//       - Using namespace ObstacleAvoidance
//       - Removed "RR" from class names
//
//       Revision 1.3  2004/04/27 21:09:52  eswint
//       - moved point information and methods to Primitive
//
//       Revision 1.2  2004/04/13 21:29:51  eswint
//       - Added/Corrected commenting
//
//       Revision 1.1  2004/04/13 18:06:53  eswint
//       - Changed file extensions to comply with development guidelines
//
//       Revision 1.4  2004/03/15 20:26:53  chetan
//       Changes to ObAvData.C to support loading of spherical obstacle data
//
//       Revision 1.3  2004/01/28 21:37:04  eswint
//       - moved _init, radius from derived es
//
//       Revision 1.2  2004/01/27 21:49:01  eswint
//       - changed parameters to const and/or RRVector3 where appropriate
//       - replaced RRVector3** with vector<vector<RRVector3>>
//
//       Revision 1.1  2003/08/18 18:37:20  eswint
//       Initial Commit
//
//
#ifndef Primitive_h
#define Primitive_h

//Includes go here
#include "Math/Vector3.h"
#include "Math/MathUtilities.h"
#include "ModelingObject.hpp"
#include <vector>

#if defined _SOLID
#include "solid-3.5/include/SOLID.h"

#endif



using std::vector;

namespace OSCAR { 
class Primitive : public ModelingObject
{
public:
  Primitive();
  Primitive(const Primitive& arg);

  virtual ~Primitive();

  Primitive& operator=(const Primitive& rhs);


        virtual Primitive* Clone() const = 0;

  bool SetProperties() { return false; } //Not virtual because # args will vary.

#if defined _SOLID
  const DT_ObjectHandle GetSolidHandle() const {return solidHandle;}

  void AddResponseClass( DT_RespTableHandle respTable ) {respClasses.push_back(DT_GenResponseClass(respTable));}  
  
  const vector<DT_ResponseClass>& GetResponseClasses() const {return respClasses;}


#endif

  virtual bool Update(const Xform& transform){transform.at(0,0); return false;}

protected:

//code for SOLID
#if defined _SOLID
  DT_ObjectHandle solidHandle;
  DT_ShapeHandle shapeHandle;
  vector<DT_ResponseClass> respClasses;
  virtual bool createSolid(){return false;}
  void destroySolid();
#endif
};

#include "Primitive.ipp"
}  //namespace OSCAR
#endif //Obstacle_h

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