GroundT.hpp

Go to the documentation of this file.

// This file is part of GranOO, a workbench for Physic simulation.
//
// Author(s)    : - Jean-luc CHARLES I2M-DuMAS/ENSAM Talence France
//                  <jean-luc.charles@ensam.eu>
//                - Damien ANDRE     SPCTS/ENS Ceramique industrielle, Limoges France
//                  <damien.andre@unilim.fr>
//                - Jeremie GIRARDOT I2M-DuMAS/ENSAM Talence France
//                  <jeremie.girardot@ensam.eu>
//                - Cedric Hubert    LAMIH/UVHC Valenciennes France
//                  <cedric.hubert@univ-valenciennes.fr>
//                - Ivan IORDANOFF   I2M-DuMAS-MPI/ENSAM Talence France
//                  <ivan.iordanoff@ensam.eu>
//
// Copyright (C) 2008-2016 JL. CHARLES, D. ANDRE, I. IORDANOFF, J. GIRARDOT
//
//
//
//
//
// 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_GroundT_H
#define _LibPhysic_GroundT_H
 
#include <boost/serialization/version.hpp>
#include <boost/serialization/map.hpp>
 
#include "GranOO3/Core/ObjectFactory.hpp"
#include "GranOO3/Physic/Ground.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/ConeTruncated.hpp"
#include "GranOO3/Shape/Polyhedron.hpp"
 
// surface shape
#include "GranOO3/Shape/Plane.hpp"
#include "GranOO3/Shape/Rectangle.hpp"
#include "GranOO3/Shape/Disk.hpp"
 
 
namespace GranOO3
{
  namespace Physic
  {
 
    template<class shape>
    class GroundT : public Ground,
      public shape,
      public Core::ObjectFactoryInterface<Ground,  GroundT<shape> >,
      public Core::Register<GroundT<shape> >
    {
 
      GRANOO_CLASS_T(Physic::GroundT, shape, Ground);
      GRANOO_OBJECT_FACTORY(GroundT);
 
    public:
      static GroundT<shape>& get(const std::string&);
      static bool exist(const std::string&);
 
    public:
      //CONSTRUCTORS & DESTRUCTORS
      GroundT(const std::string&, const Geom::Point & p, const Geom::Quaternion& q);
 
      GroundT();
      virtual ~GroundT();
 
      //USEFULL
      virtual std::string info() const;
      void read_xml_element(const TiXmlElement* el);
      virtual void draw();
      virtual void draw_edge();
      std::string shape_class_ID() const;
 
 
      //ACCESSORS
      const Geom::Frame& local_frame() const;
 
      //CASTING
      virtual Shape::Base& to_base_shape();
      virtual const Shape::Base& to_base_shape() const;
 
      // IO
      virtual std::ostream& write_ascii (std::ostream& out) const;
      virtual std::istream& read_ascii (std::istream& in);
 
    private:
      GroundT(const GroundT&) = delete;
      GroundT & operator=(const GroundT &) = delete;
 
      //BOOST SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void serialize(Archive&, const unsigned int);
    };
 
#ifndef DOXYGEN_SHOULD_SKIP_THIS
 
    template<typename shape>
    inline GroundT<shape>&
    GroundT<shape>::get(const std::string& id) {
      Core::SetOf< GroundT<shape> >& set = Core::SetOf< GroundT<shape> >::get_global_set();
      for (unsigned int i = 0; i<set.size(); ++i) {
        if (set[i]->Ground::get_ID()==id)
          return *set[i];
      }
      UserAssert(0, "can't find discrete shape " + id);
      return set(0);
    }
 
    template<typename shape>
    inline bool
    GroundT<shape>::exist(const std::string& id) {
      Core::SetOf< GroundT<shape> >& set = Core::SetOf< GroundT<shape> >::get_global_set();
      for (unsigned int i = 0; i<set.size(); ++i) {
        if (set[i]->Ground::get_ID()==id)
          return true;
      }
      return false;
    }
 
    // Constructors
    template<class shape>
    inline
    GroundT<shape>::GroundT(const std::string& id, const Geom::Point & p, const Geom::Quaternion& q)
      : Ground(id, p, q),
      shape(Ground::local_frame()) {
    }
 
    template<class shape>
    inline
    GroundT<shape>::GroundT()
      : GroundT("", Geom::global::center, Geom::global::quaternion) {
    }
 
    template<class shape>
    inline
    GroundT<shape>::~GroundT() {
    }
 
    template<class shape>
    const Geom::Frame &
    GroundT<shape>::local_frame() const {
      return Ground::local_frame();
    }
 
    template<class shape>
    inline const Shape::Base&
    GroundT<shape>::to_base_shape() const {
      return *this;
    }
 
    template<class shape>
    inline Shape::Base&
    GroundT<shape>::to_base_shape() {
      return *this;
    }
 
    template<class shape>
    inline std::string
    GroundT<shape>::info() const {
      std::ostringstream os;
      os << Ground::info() << '\n'
         << shape::info();
      return os.str();
    }
 
    template<class shape>
    inline void
    GroundT<shape>::read_xml_element(const TiXmlElement* el) {
      Ground::read_xml_element(el);
      shape::read_xml_element(el);
    }
 
    template<class shape>
    inline std::string
    GroundT<shape>::shape_class_ID() const {
      return shape::class_ID();
    }
 
    template<class shape>
    std::ostream&
    GroundT<shape>::write_ascii (std::ostream& out) const {
      Ground::write_ascii(out);
      shape::write_ascii(out);
      return out;
    }
 
    template<class shape>
    std::istream&
    GroundT<shape>::read_ascii (std::istream& in) {
      Ground::read_ascii(in);
      shape::read_ascii(in);
      return in;
    }
 
    template<class shape>
    template<class Archive>
    void
    GroundT<shape>::serialize(Archive & ar, const unsigned int version) {
      ar & boost::serialization::base_object<Ground>(*this);
      ar & boost::serialization::base_object<shape>(*this);
    }
 
    template<class shape>
    inline void
    GroundT<shape>::draw() {
#ifndef SERVER
      Drawable::apply_color();
      glPushMatrix();
      glMultMatrixd(local_frame().get_glMatrix());
      shape::draw_gl();
      glPopMatrix();
#endif
    }
 
 
    template<class shape>
    inline void
    GroundT<shape>::draw_edge() {
#ifndef SERVER
      Drawable::apply_color();
      glPushMatrix();
      glMultMatrixd(local_frame().get_glMatrix());
      shape::draw_gl_edge();
      glPopMatrix();
#endif
    }
 
 
#endif
  }
}
 
 
 
namespace GranOO3
{
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::Sphere>);
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::Box>);
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::Cylinder>);
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::Cone>);
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::ConeTruncated>);
  GRANOO_CLASS_DECLARE_TPL(Physic::GroundT<Shape::Polyhedron>);
}
 
 
namespace GranOO3
{
  namespace Core
  {
 
    template<class shape>
    struct Read<Physic::GroundT<shape> >
    {
      static Base* new_object(const std::string& classID, std::istream& in) {
        Physic::GroundT<shape>* pt = new Physic::GroundT<shape>();
        pt->read_ascii(in);
        return pt;
      }
 
    };
  }
}
 
 
#endif