Box.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 _GranOO_LibShape_Box_hh_
#define _GranOO_LibShape_Box_hh_
 
#include <iostream>
#include <string>
 
#include <vtkUnstructuredGrid.h>
 
#include "GranOO3/Shape/Volume.hpp"
#include "GranOO3/Geom/Point.hpp"
 
#include "GranOO3/Core/String.hpp"
#include "GranOO3/Core/ObjectFactory.hpp"
 
namespace GranOO3
{
  namespace Shape
  {
 
    class Sphere;
    class Box;
 
 
 
 
    class Box : public Volume,
      public Core::ObjectFactoryInterface< Base, Box>
    {
 
      GRANOO_OBJECT_FACTORY(Box);
 
    public:
      static std::string class_ID() {return std::string("Box");}
      static std::string desc();
 
    public:
      //CONSTRUCTORS & DESTRUCTORS
      Box();
      Box(double dimX, double dimY, double dimZ, const Geom::Frame& frame);
      Box(const Box &);
      Box(const Box &, const Geom::Frame&);
      Box(const Geom::Frame&);
      virtual ~Box();
 
      //IO
      void read_xml_element(const TiXmlElement* el);
      virtual std::ostream& write_ascii (std::ostream& out) const;
      virtual std::istream& read_ascii (std::istream& in);
      virtual void to_vtk(vtkUnstructuredGrid* data);
      std::string info() const;
 
      //CLONING
      void make_equal_to(const Box&);
 
      //BOUNDING SHAPE
      void update_bounding_box();
      void update_bounding_sphere();
      double get_greatest_dimension() const;
      AABB aabb() const;
 
      //CONTACT DETECTION
      Interference locate(const Geom::Point&) const;
      Interference locate(const Geom::Point&, double radius) const;
 
      //CONTACT DETECTION v2
      GRANOO_DECLARE_SHAPE_COLLISION();
      bool collide_inside(const Geom::Point& p1, double radius, Collision::Data& info) const;
      bool collide_outside(const Geom::Point& p1, double radius, Collision::Data& info) const;
      Geom::Point farthest_point_along(const Geom::Vector&) const;
 
 
      //USEFULL
      double get_volume() const {
        return _lx*_ly*_lz;
      }
 
      void compute_inertia_tensor(double, Geom::Tensor &) const;
      void draw_gl() const;
      void scale(double);
 
 
      //ACCESSORS
      void  set_length(double x, double y, double z);
      GRANOO_ACCESS_SHAPE_DIM(lx, double, _lx);
      GRANOO_ACCESS_SHAPE_DIM(ly, double, _ly);
      GRANOO_ACCESS_SHAPE_DIM(lz, double, _lz);
 
      Geom::Point get_xmax_center(const Geom::Frame& frame = Geom::Frame::global) const;
      Geom::Point get_xmin_center(const Geom::Frame& frame = Geom::Frame::global) const;
      Geom::Point get_ymax_center(const Geom::Frame& frame = Geom::Frame::global) const;
      Geom::Point get_ymin_center(const Geom::Frame& frame = Geom::Frame::global) const;
      Geom::Point get_zmax_center(const Geom::Frame& frame = Geom::Frame::global) const;
      Geom::Point get_zmin_center(const Geom::Frame& frame = Geom::Frame::global) const;
 
      Geom::Point get_point1() const;
      Geom::Point get_point2() const;
      Geom::Point get_point3() const;
      Geom::Point get_point4() const;
      Geom::Point get_point5() const;
      Geom::Point get_point6() const;
      Geom::Point get_point7() const;
      Geom::Point get_point8() const;
 
      std::ostream& to_povray(std::ostream& out, const Core::Color& ) const;
 
    private:
      Box & operator=(const Box &); //Not allowed
 
      //SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void serialize(Archive&, const unsigned int);
 
    private:
      // Data
      double _lx;
      double _ly;
      double _lz;
    };
 
 
    inline
    Box::Box(double dimX, double dimY, double dimZ, const Geom::Frame& frame)
      : Volume(frame),
      _lx(dimX),
      _ly(dimY),
      _lz(dimZ) {
      set_face_ID("xMin", "xMax", "yMin", "yMax", "zMin", "zMax");
      SafeModeAssert(_lx >= 0., "bad input value");
      SafeModeAssert(_ly >= 0., "bad input value");
      SafeModeAssert(_lz >= 0., "bad input value");
 
    }
 
    inline
    Box::Box()
      : Box(0., 0., 0., Geom::Frame::global) {
 
    }
 
    inline
    Box::Box(const Box &b)
      : Box(b._lx, b._ly, b._lz, b._frame) {
    }
 
    inline
    Box::Box(const Box &b, const Geom::Frame& frame)
      : Box(b._lx, b._ly, b._lz, frame) {
    }
 
    inline
    Box::Box(const Geom::Frame& frame)
      : Box(0., 0., 0., frame) {
    }
 
    inline void
    Box::set_length(double x, double y, double z) {
      SafeModeAssert(x>=0. && y>=0. && z>=0., "The value must be positive");
 
      _lx = x;
      _ly = y;
      _lz = z;
      if (is_bounding_shape()==false)
        update_bounding_shape();
    }
 
    inline double
    Box::get_greatest_dimension() const {
      double max = get_lx();
      if (get_ly() > max)
        max = get_ly();
      else if (get_lz() > max)
        max = get_lz();
 
      return max;
    }
 
    inline
    AABB Box::aabb() const {
 
      double xMin = farthest_point_along(Geom::Vector(-1,  0,  0)).x();
      double xMax = farthest_point_along(Geom::Vector( 1,  0,  0)).x();
      double yMin = farthest_point_along(Geom::Vector( 0, -1,  0)).y();
      double yMax = farthest_point_along(Geom::Vector( 0,  1,  0)).y();
      double zMin = farthest_point_along(Geom::Vector( 0,  0, -1)).z();
      double zMax = farthest_point_along(Geom::Vector( 0,  0,  1)).z();
 
      double minPoint[] = { xMin, yMin, zMin };
      double maxPoint[] = { xMax, yMax, zMax };
 
      return StaticAABBTree::new_lonely_aabb(minPoint, maxPoint);
    }
 
    inline void
    Box::compute_inertia_tensor(double density, Geom::Tensor & m) const {
      m.clear();
      const double mass = density*get_volume();
      m.xx() = mass*(get_ly()*get_ly()+get_lz()*get_lz())/12.;
      m.yy() = mass*(get_lx()*get_lx()+get_lz()*get_lz())/12.;
      m.zz() = mass*(get_lx()*get_lx()+get_ly()*get_ly())/12.;
    }
 
    inline Geom::Point
    Box::get_xmax_center(const Geom::Frame& frame) const {
      Geom::Point p(get_lx()/2., 0., 0.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point Box::get_xmin_center(const Geom::Frame& frame) const {
      Geom::Point p(-get_lx()/2., 0., 0.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point
    Box::get_ymax_center(const Geom::Frame& frame) const {
      Geom::Point p(0., get_ly()/2., 0.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point
    Box::get_ymin_center(const Geom::Frame& frame) const {
      Geom::Point p(0., -get_ly()/2., 0.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point
    Box::get_zmax_center(const Geom::Frame& frame) const {
      Geom::Point p(0., 0., get_lz()/2.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point
    Box::get_zmin_center(const Geom::Frame& frame) const {
      Geom::Point p(0., 0., -get_lz()/2.);
      return Geom::Point (p, local_frame(), frame);
    }
 
    inline Geom::Point
    Box::get_point1() const {
      return Geom::Point(-_lx/2.,-_ly/2.,-_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point2() const {
      return Geom::Point(_lx/2.,-_ly/2.,-_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point3() const {
      return Geom::Point(_lx/2.,_ly/2.,-_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point4() const {
      return Geom::Point(-_lx/2.,_ly/2.,-_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point5() const {
      return Geom::Point(-_lx/2.,-_ly/2.,_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point6() const {
      return Geom::Point(_lx/2.,-_ly/2.,_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point7() const {
      return Geom::Point(_lx/2.,_ly/2.,_lz/2.);
    }
 
    inline Geom::Point
    Box::get_point8() const {
      return Geom::Point(-_lx/2.,_ly/2.,_lz/2.);
    }
 
    template<class Archive>
    inline void
    Box::serialize(Archive & ar, const unsigned int ) {
      ar & boost::serialization::base_object<Volume>(*this);
      ar & _lx;
      ar & _ly;
      ar & _lz;
    }
 
  }
}
//Don't forget to export for dynamic serialization of child class
#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT_KEY(GranOO3::Shape::Box)
 
 
 
namespace GranOO3
{
  extern template class Core::ObjectFactoryInterface<Shape::Base, Shape::Box>;
}
 
 
 
#endif