/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/collision/sdf/sdf_geometry.h

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#ifndef OPENTISSUE_COLLISION_SDF_SDF_GEOMETRY_H
#define OPENTISSUE_COLLISION_SDF_SDF_GEOMETRY_H
//
// OpenTissue Template Library
// - A generic toolbox for physics-based modeling and simulation.
// Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
//
// OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
//
#include <OpenTissue/configuration.h>


#include <OpenTissue/collision/bvh/bvh.h>
#include <OpenTissue/collision/collision_geometry_interface.h>
#include <OpenTissue/core/geometry/geometry_sphere.h>
#include <OpenTissue/core/geometry/geometry_compute_obb_aabb.h>
#include <OpenTissue/utility/utility_class_id.h>


#include <list>

namespace OpenTissue
{
  namespace sdf
  {



    template<typename mesh_type_,typename grid_type_>
    class Geometry
      : public OpenTissue::collision::GeometryInterface< typename mesh_type_::math_types >
      , public OpenTissue::utility::ClassID< Geometry<mesh_type_, grid_type_ > >
    {
    public:

      typedef          mesh_type_                            mesh_type;
      typedef          grid_type_                            grid_type;
      typedef typename mesh_type::math_types                 math_types;

      typedef typename math_types::real_type                 real_type;
      typedef typename math_types::vector3_type              vector3_type;
      typedef typename math_types::matrix3x3_type            matrix3x3_type;

      typedef          geometry::Sphere<math_types>          sphere_type;
      typedef typename std::list<vector3_type>               point_container;
      typedef typename point_container::iterator             point_iterator;
      typedef typename point_container::const_iterator       const_point_iterator;

      typedef          bvh::BoundingVolumeHierarchy<sphere_type,vector3_type*>   bvh_type;

    public: //--- kenny 20060420: Maybe these should be protected?

      mesh_type             m_mesh;            
      grid_type             m_phi;             
      real_type             m_max_radius;      
      vector3_type          m_min_coord;       
      vector3_type          m_max_coord;       
      point_container       m_sampling;        
      bvh_type              m_bvh;             

    public:

      size_t const class_id() const { return OpenTissue::utility::ClassID<OpenTissue::sdf::Geometry<mesh_type_,grid_type_> >::class_id(); }

      Geometry() 
        : m_max_radius() 
        , m_min_coord(0,0,0)
        , m_max_coord(0,0,0)
      {}

    public:

      vector3_type ext() const { return vector3_type ( 0.5*(m_max_coord - m_min_coord) ); }

      real_type const & max_radius() const { return m_max_radius; }

      void compute_collision_aabb(
        vector3_type const & r
        , matrix3x3_type const & R
        , vector3_type & min_coord
        , vector3_type & max_coord
        ) const
      {
        OpenTissue::geometry::compute_obb_aabb(r,R,this->ext(),min_coord,max_coord);
      }

    };

  } // namespace sdf

} // namespace OpenTissue

// OPENTISSUE_COLLISION_SDF_SDF_GEOMETRY_H
#endif