Cone.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_Cone_hh_
#define _GranOO_LibShape_Cone_hh_
 
#include <iostream>
#include <string>
 
#include <vtkUnstructuredGrid.h>
 
#include "GranOO3/Geom/Point.hpp"
#include "GranOO3/Shape/Volume.hpp"
#include "GranOO3/Core/String.hpp"
 
namespace GranOO3
{
  namespace Shape
  {
    class Cone : public Volume,
      public Core::ObjectFactoryInterface<Base, Cone>
    {
 
      GRANOO_OBJECT_FACTORY(Cone);
 
    public:
      static std::string class_ID() {return std::string("Cone");}
      static std::string desc();
 
    public:
      //CONSTRUCTORS & DESTRUCTORS
      Cone();
      Cone(double radius, double length, const Geom::Frame& frame);
      Cone(const Cone &);
      Cone(const Cone &, const Geom::Frame&);
      Cone(const Geom::Frame& frame);
      virtual ~Cone();
 
      //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 Cone&);
 
      //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;
      void compute_inertia_tensor(double density, Geom::Tensor &) const;
      double get_half_angle() const {
        return atan(_radius/_length);
      }
 
      void draw_gl() const;
      void scale(double);
 
 
 
      //ACCESSORS
      GRANOO_ACCESS_SHAPE_DIM(radius, double, _radius);
      GRANOO_ACCESS_SHAPE_DIM(length, double, _length);
      double get_radius_at(double) const;
 
      std::ostream& to_povray (std::ostream& out, const Core::Color& ) const;
 
    private:
      Cone & operator=(const Cone &); //Not allowed
 
      //SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void serialize(Archive&, const unsigned int);
 
    private:
      double _radius;
      double _length;
      Box*    _bounding_box;
      Sphere* _bounding_sphere;
    };
 
 
 
 
 
    inline
    Cone::Cone(double radius, double length, const Geom::Frame& frame)
      : Volume(frame),
      _radius(radius),
      _length(length),
      _bounding_box(0),
      _bounding_sphere(0) {
      set_face_ID("xMin", "radius", "vertex");
      SafeModeAssert(_radius>=0, "bad input value");
      SafeModeAssert(_length>=0, "bad input value");
    }
 
    inline
    Cone::Cone()
      : Cone(0., 0., Geom::Frame::global) {
    }
 
    inline
    Cone::Cone(const Cone &s, const Geom::Frame& frame)
      : Cone(s._radius, s._length, frame) {
    }
 
    inline
    Cone::Cone(const Cone &s)
      : Cone(s._radius, s._length, s._frame ) {
    }
 
    inline
    Cone::Cone(const Geom::Frame& frame)
      : Cone(0., 0., frame) {
    }
 
    inline double
    Cone::get_volume() const {
      return _length*M_PI*pow(_radius,2)/3.;
    }
 
    inline double
    Cone::get_greatest_dimension() const {
      double max = get_radius()*2.;
      if (get_length() > max)
        max = get_length();
 
      return max;
    }
 
    inline
    AABB Cone::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
    Cone::compute_inertia_tensor(double density, Geom::Tensor &m) const {
      const double mass = get_volume()*density;
 
      m.clear();
      const double Ixx = (3./10.)*mass*pow(_radius,2);
      const double Iyy = (3./20.)*mass*pow(_radius,2) + (1./10.)*mass*pow(_length,2);
      m.xx() = Ixx;
      m.yy() = m.zz() = Iyy;
    }
 
    inline double
    Cone::get_radius_at(double x) const {
      x += _length/4.;
      return _radius - (_radius/_length)*x;
    }
 
    template<class Archive>
    inline void
    Cone::serialize(Archive& ar, const unsigned int) {
      ar & boost::serialization::base_object<Volume>(*this);
      ar & _radius;
      ar & _length;
    }
 
  }
}
 
//Don't forget to export for dynamic serialization of child class
#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT_KEY(GranOO3::Shape::Cone)
 
#include <boost/serialization/version.hpp>
BOOST_CLASS_VERSION(GranOO3::Shape::Cone,0)
GRANOO_SERIALIZE_SHAPE(Cone)
 
namespace GranOO3
{
  extern template class Core::ObjectFactoryInterface<Shape::Base, Shape::Cone>;
}
 
 
 
#endif