Frame.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_libGeom_FRAME_hpp_
#define  _GranOO_libGeom_FRAME_hpp_
 
#include <iostream>
 
#ifndef SERVER
  #if defined OSX
    #include <OpenGL/gl.h>
  #else
    #include <GL/gl.h>
  #endif
#endif
 
#include <boost/archive/text_oarchive.hpp>
#include <boost/archive/text_iarchive.hpp>
 
#include "GranOO3/Geom/Vector.hpp"
 
class TiXmlElement;
 
namespace GranOO3
{
  namespace Geom
  {
 
    class Point;
    class Quaternion;
    class Frame;
    struct global;
    struct null;
 
    // Extern operators
    std::ostream& operator<< (std::ostream& o, const Frame& f);
    bool operator==(const Frame& f1, const Frame& f2);
    bool operator!=(const Frame& f1, const Frame& f2);
 
 
    class Frame
    {
 
    public:
      // Usefull for internal use only, NOT DOCUMENTED !
      static Frame& glob(const std::string& id);
      static std::string class_ID() {return "Frame";}
      static Frame* new_object(const TiXmlElement* el);
 
      static const Frame& global;
      static const Frame& null;
 
      friend class global;
      friend class null;
 
    public:
      // Constructors and destructor
      Frame(const Point &center, const Quaternion &quaternion, const Frame& reference);
      ~Frame();
 
      // Accessors
      GRANOO_ACCESS_GET(center, Point, center);
      GRANOO_ACCESS_GET(quaternion, Quaternion, quaternion);
      GRANOO_ACCESS_GET(rank, unsigned int, rank);
      const Vector& get_position() const; 
 
      bool is_global() const;
 
      // Reference frame
      const Frame& get_reference() const;
 
      void update_glMatrix();
      void update_glMatrix() const;
      std::string info() const;
 
      
#ifndef SERVER
      const GLdouble* get_glMatrix() const {
        return &_m[0][0];
      }
 
#endif
 
      void add_glob(const std::string& id);
 
    private:
      Frame(const Point &center, const Quaternion &quaternion);
      Frame() = delete;
      Frame(const Frame& frame) = delete;
      Frame & operator=(const Frame &) = delete;
 
    public:
      const Point&       center;
      const Quaternion&  quaternion;
      const unsigned int rank;
      const Frame&       ref;
 
  
#ifndef SERVER
      GLdouble _m[4][4];
#endif
 
    };
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    inline
    Frame::Frame(const Point& center, const Quaternion& quaternion, const Frame& reference):
      center(center),
      quaternion(quaternion),
      rank( (this ==  &global::frame) ? 0 : reference.rank+1),
      ref(reference){
    }
 
    inline
    Frame::Frame(const Point& center, const Quaternion& quaternion):
      center(center),
      quaternion(quaternion),
      rank(0),
      ref(*this){
    }
 
    inline bool
    Frame::is_global() const {
      return this == &global;
    }
 
    inline const Frame&
    Frame::get_reference() const {
      return ref;
    }
    
    inline
    Frame::~Frame() {
    }
 
    inline const Vector&
    Frame::get_position() const {
      return reinterpret_cast<const Vector&>(center);
    };
    
 
    inline bool
    operator==(const Frame& f1, const Frame& f2) {
      return &f1 == &f2;
    }
 
    inline bool
    operator!=(const Frame& f1, const Frame& f2) {
      return !(f1 == f2);
    }
 
 
#endif
  }
}
 
 
#endif