BodyT.hpp

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// This file is part of GranOO, a workbench for DEM simulation.
//
// Author(s)    : - Damien Andre       IRCER/UNILIM, Limoges France
//                  <damien.andre@unilim.fr>
//                - Jean-luc Charles   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jean-luc.charles@ensam.eu>
//                - Jeremie Girardot   Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <jeremie.girardot@ensam.eu>
//                - Cedric Hubert      LAMIH/UPHF, Valenciennes France
//                  <cedric.hubert@uphf.fr>
//                - Ivan Iordanoff     Arts et Metiers ParisTech, CNRS, I2M, Bordeaux France
//                  <ivan.iordanoff@ensam.eu>
//
// Copyright (C) 2008-2019 D. Andre, JL. Charles, J. Girardot, C. Hubert, I. Iordanoff
//
// This program is free software: you can redistribute it and/or modify
// it under the terms of the GNU General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// This program is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
// GNU General Public License for more details.
//
// You should have received a copy of the GNU General Public License
// along with this program.  If not, see <http://www.gnu.org/licenses/>.
 
 
#ifndef _LibPhysic_BodyT_H
#define _LibPhysic_BodyT_H
 
#include <type_traits>
 
#include "GranOO3/Physic/Body.hpp"
#include "GranOO3/Core/Drawable.hpp"
 
#include "GranOO3/Core/Prop.hpp"
 
// Volume shape
#include "GranOO3/Shape/Sphere.hpp"
#include "GranOO3/Shape/Box.hpp"
#include "GranOO3/Shape/Cylinder.hpp"
#include "GranOO3/Shape/Cone.hpp"
#include "GranOO3/Shape/Polyhedron.hpp"
 
 
namespace GranOO3
{
  namespace Physic
  {
 
    template<class shape>
    class BodyT : public Body,
          public shape,
          public Core::Register< BodyT<shape> >
    {
 
      GRANOO_CLASS_T(Physic::BodyT, shape, Body);
 
    public:
      // Constructors and destructor
      BodyT(const Geom::Point & p, const Geom::Quaternion& q, double mass, const Geom::Tensor& tensor);
      BodyT();
      virtual ~BodyT();
 
      GRANOO_ACCESS_REF_CONST(local_frame, Geom::Frame,      Node::local_frame());
      GRANOO_ACCESS_GET      (center     , Geom::Point     , Node::get_center() );
      GRANOO_ACCESS          (quaternion , Geom::Quaternion, Node::quaternion() );
 
      // Useful for internal use only, NOT DOCUMENTED !
      virtual void draw();
      virtual void draw_edge();
      virtual std::string info() const;
 
    private:
      BodyT(const BodyT&) = delete;
      BodyT & operator=(const BodyT &) = delete;
 
      //BOOST SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void serialize(Archive&, const unsigned int);
    };
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    template<class shape>
    BodyT<shape>::BodyT(const Geom::Point & p, const Geom::Quaternion& q, double mass, const Geom::Tensor& tensor)
      : Body(*this, p,q,mass,tensor),
    shape(Body::local_frame()) {
    }
 
    template<class shape>
    BodyT<shape>::BodyT()
      : BodyT<shape>(Geom::global::center, Geom::global::quaternion, 0., Geom::global::tensor) {
    }
 
    template<class shape>
    BodyT<shape>::~BodyT() {
    }
 
    template<class shape>
    void
    BodyT<shape>::draw() {
#ifndef SERVER
      Drawable::apply_color();
      glPushMatrix();
      glMultMatrixd(local_frame().get_glMatrix());
      shape::draw_gl();
      glPopMatrix();
#endif
    }
 
    template<class shape>
    void
    BodyT<shape>::draw_edge() {
#ifndef SERVER
      Drawable::apply_color();
      glPushMatrix();
      glMultMatrixd(local_frame().get_glMatrix());
      shape::draw_gl_edge();
      glPopMatrix();
#endif
    }
 
 
    
    template<class shape>
    std::string
    BodyT<shape>::info() const {
      std::ostringstream os;
      os << Body::info() << '\n'
         << shape::info();
      return os.str();
    }
 
    template<class shape>
    template<class Archive>
    void
    BodyT<shape>::serialize(Archive & ar, const unsigned int version) {
      ar & boost::serialization::base_object<Body>(*this);
      ar & boost::serialization::base_object<shape>(*this);
    }
 
#endif
  }
}
 
 
 
namespace GranOO3
{
  GRANOO_CLASS_DECLARE_TPL(Physic::BodyT<Shape::Sphere>);
  GRANOO_CLASS_DECLARE_TPL(Physic::BodyT<Shape::Box>);
  GRANOO_CLASS_DECLARE_TPL(Physic::BodyT<Shape::Cylinder>);
  GRANOO_CLASS_DECLARE_TPL(Physic::BodyT<Shape::Cone>);
  GRANOO_CLASS_DECLARE_TPL(Physic::BodyT<Shape::Polyhedron>);
}
 
#endif