S_Object.h

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#pragma once
 
#ifndef _S_OBJECT
#  define _S_OBJECT
 
#  include <sch/Matrix/SCH_Types.h>
#  include <sch/sch_api.h>
 
namespace sch
{
 
typedef struct _TimeStamp
{
  unsigned long int value1, value2, value3, value4;
 
  template<class Archive>
  void serialize(Archive & ar, const unsigned int /*version*/)
  {
    ar & value1 & value2 & value3 & value4;
  }
 
  explicit _TimeStamp() : value1(0), value2(0), value3(0), value4(0) {}
 
  bool operator==(const _TimeStamp & t) const
  {
    return ((value1 == t.value1) && (value2 == t.value2));
  }
 
  void operator++()
  {
    value1++;
    if(!value1)
    {
      value2++;
      if(!value2)
      {
        value3++;
        if(!value3)
        {
          value4++;
        }
      }
    }
  }
 
  void operator--()
  {
    value1--;
    if(value1 == (unsigned long int)(-1))
    {
      value2--;
      if(value2 == (unsigned long int)(-1))
      {
        value3--;
        if(value3 == (unsigned long int)(-1))
        {
          value4--;
        }
      }
    }
  }
} S_ObjectTimeStamp;
 
/*IMPORTANT !!!! DO NOT INHERIT FROM THIS CLASS, YOU MUST CHOOSE IF YOU NEED VECTOR NORMALIZATION OR NOT IN YOUR SUPPORT
 * FUNCTION AND INHERIT FROM S_ObjectNormalized or S_ObjectNonNormalized*/
class S_Object
{
 
public:
  SCH_API virtual Point3 l_Support(const Vector3 & v, int & lastFeature) const = 0;
 
  SCH_API virtual S_Object * clone() const = 0;
 
public:
  SCH_API S_Object(void);
  SCH_API virtual ~S_Object(void);
 
  SCH_API virtual Point3 support(const Vector3 & v) const = 0;
 
  SCH_API virtual Point3 support(const Vector3 & v, int & LastFeature) const = 0;
 
  /*
   *  \brief Constructs the Object from a file
   */
  SCH_API virtual void constructFromFile(const std::string & filename);
 
  /*
   *  \brief Sets the Orientation
   */
  SCH_API void setOrientation(const Matrix3x3 & Rotation);
 
  SCH_API void setOrientation(const Scalar & r00,
                              const Scalar & r01,
                              const Scalar & r02,
                              const Scalar & r10,
                              const Scalar & r11,
                              const Scalar & r12,
                              const Scalar & r20,
                              const Scalar & r21,
                              const Scalar & r22);
 
  SCH_API void setOrientation(const Quaternion quaternion);
 
  SCH_API void setOrientation(const Scalar & q0, const Scalar & q1, const Scalar & q2, const Scalar & q3);
 
  SCH_API void setOrientation(const Scalar & yaw, const Scalar & pitch, const Scalar & roll);
 
  SCH_API void setOrientation(const Scalar * const p);
 
  SCH_API void setOrientation(const Scalar & angle, const Vector3 & axe);
 
  SCH_API void setPosition(const Vector3 & v);
 
  SCH_API void setPosition(const Scalar & x, const Scalar & y, const Scalar & z);
 
  SCH_API void setPosition(const Scalar * const v);
 
  SCH_API void setTransformation(const Matrix4x4 & transformation);
 
  SCH_API void addRotation(const Matrix3x3 & Rotation);
 
  SCH_API void addRotation(const Scalar & r00,
                           const Scalar & r01,
                           const Scalar & r02,
                           const Scalar & r10,
                           const Scalar & r11,
                           const Scalar & r12,
                           const Scalar & r20,
                           const Scalar & r21,
                           const Scalar & r22);
 
  SCH_API void addRotation(const Quaternion quaternion);
 
  SCH_API void addRotation(const Scalar & q0, const Scalar & q1, const Scalar & q2, const Scalar & q3);
 
  SCH_API void addRotation(const Scalar & angle, const Vector3 & axe);
 
  SCH_API void addRotation(const Scalar & yaw, const Scalar & pitch, const Scalar & roll);
 
  SCH_API void addRotation(const Scalar * const p);
 
  SCH_API void addTranslation(const Vector3 & v);
 
  SCH_API void addTranslation(const Scalar * const v);
 
  SCH_API void addTranslation(const Scalar & x, const Scalar & y, const Scalar & z);
 
  SCH_API void addScale(const Scalar & x, const Scalar & y, const Scalar & z);
 
  SCH_API void addTransformation(const Matrix4x4 & transformation);
 
  SCH_API void resetTransformation();
 
  SCH_API const Vector3 & getPosition() const;
 
  SCH_API const Matrix3x3 & getOrientation() const;
 
  SCH_API void getTransformationMatrix(Scalar * S) const;
 
  int getSlices() const;
  int getStacks() const;
 
  enum S_ObjectType
  {
    TS_Object,
    TPolyhedron,
    TSTP_BV,
    TSphere,
    TBox,
    TSuperellipsoid,
    TSTP_BV_WithPolyhedron,
    TPoint,
    TCapsule,
    TCone,
    TCylinder
  };
 
  SCH_API virtual S_ObjectType getType() const;
 
  const S_ObjectTimeStamp & checkStamp() const;
 
  template<class Archive>
  void serialize(Archive & ar, const unsigned int /*version*/)
  {
    ar & stamp_;
    ar & stacks_;
    ar & slices_;
    ar & mRot_;
    ar & trans_;
  }
 
protected:
  S_ObjectTimeStamp stamp_;
  int stacks_, slices_;
  Matrix3x3 mRot_;
  Vector3 trans_;
};
 
#  include <sch/S_Object/S_Object.hxx>
} // namespace sch
#endif