ColdetModel.h

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#ifndef CNOID_AIST_COLLISION_DETECTOR_COLDET_MODEL_H
#define CNOID_AIST_COLLISION_DETECTOR_COLDET_MODEL_H
 
#include <cnoid/Referenced>
#include <cnoid/EigenTypes>
#include <string>
#include <vector>
#include "exportdecl.h"
 
namespace IceMaths {
class Matrix4x4;
}
 
namespace cnoid {
 
class ColdetModelInternalModel;
 
class CNOID_EXPORT ColdetModel : public Referenced
{
public:
    enum PrimitiveType { SP_MESH, SP_BOX, SP_CYLINDER, SP_CONE, SP_SPHERE, SP_PLANE };
 
    ColdetModel();
 
    ColdetModel(const ColdetModel& org);
 
    virtual ~ColdetModel();
 
    virtual ColdetModel* clone() const;
 
    void cloneInternalModel();
 
    void setName(const std::string& name) { name_ = name; }
 
    const std::string& name() const { return name_; }
 
    void setNumVertices(int n);
 
    int getNumVertices() const;
 
    void setNumTriangles(int n);
 
    int getNumTriangles() const;
 
    void setVertex(int index, float x, float y, float z);
 
    void addVertex(float x, float y, float z);
 
    void getVertex(int index, float& out_x, float& out_y, float& out_z) const;
 
    void setTriangle(int index, int v1, int v2, int v3);
 
    void addTriangle(int v1, int v2, int v3);
 
    void getTriangle(int index, int& out_v1, int& out_v2, int& out_v3) const;
 
    void build();
 
    bool isValid() const { return isValid_; }
 
#ifdef CNOID_BACKWARD_COMPATIBILITY
 
    void setPosition(const Matrix3& R, const Vector3& p);
#endif
    void setPosition(const Isometry3& T);
        
    void setPosition(const double* R, const double* p);
 
    void setPrimitiveType(PrimitiveType ptype);
 
    PrimitiveType getPrimitiveType() const;
 
    void setNumPrimitiveParams(unsigned int nparam);
 
    bool setPrimitiveParam(unsigned int index, float value);
 
    bool getPrimitiveParam(unsigned int index, float &value) const;
 
    void setPrimitivePosition(const double* R, const double* p);
        
    double computeDistanceWithRay(const double *point, const double *dir);
 
    bool checkCollisionWithPointCloud(const std::vector<Vector3> &i_cloud,
                                      double i_radius);
 
    void getBoundingBoxData(const int depth, std::vector<Vector3>& out_boxes);
        
    int getAABBTreeDepth();
    int getAABBmaxNum();
    int numofBBtoDepth(int minNumofBB);
 
private:
    void initialize();
        
    ColdetModelInternalModel* internalModel;
    IceMaths::Matrix4x4* transform;
    IceMaths::Matrix4x4* pTransform; 
    std::string name_;
    bool isValid_;
 
    friend class ColdetModelPair;
};
 
typedef ref_ptr<ColdetModel> ColdetModelPtr;
 
}
 
#endif