Sphere.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_Sphere_hh_
#define _GranOO_LibShape_Sphere_hh_
 
#include <iostream>
#include <string>
 
#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 : public Volume,
      public Core::ObjectFactoryInterface< Base, Sphere>
    {
 
      GRANOO_OBJECT_FACTORY(Sphere);
 
    public:
      static std::string class_ID() {return std::string("Sphere");}
      static std::string desc();
 
    public:
      //CONSTRUCTORS & DESTRUCTORS
      Sphere();
      Sphere(double radius);
      Sphere(double radius, const Geom::Frame& frame);
      Sphere(const Sphere &);
      Sphere(const Sphere &, const Geom::Frame&);
      Sphere(const Geom::Frame&);
      virtual ~Sphere();
 
      //CLONING
      void make_equal_to(const Sphere&);
 
      //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;
 
      //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;
      void draw_gl() const;
      void scale(double);
 
      //ACCESSORS
      GRANOO_ACCESS_SHAPE_DIM(radius, double, _radius);
 
      std::ostream& to_povray(std::ostream& out, const Core::Color& y) const;
 
    private:
      Sphere & operator=(const Sphere &); // copy constructor forbidden
 
      //SERIALIZATION
      friend class boost::serialization::access;
      template<class Archive> void serialize(Archive&, const unsigned int);
 
    private:
      double _radius;
    };
 
 
    inline
    Sphere::Sphere(double radius, const Geom::Frame& frame)
      : Volume(frame),
      _radius(radius) {
      set_face_ID("radius");
      SafeModeAssert(_radius>=0, "bad input value");
    }
 
    inline
    Sphere::Sphere()
      : Sphere(0., Geom::Frame::global) {
    }
 
    inline
    Sphere::Sphere(double radius)
      : Sphere(radius, Geom::Frame::global) {
    }
 
    inline
    Sphere::Sphere(const Sphere &s)
      : Sphere(s._radius, s._frame) {
    }
 
    inline
    Sphere::Sphere(const Sphere &s, const Geom::Frame& frame)
      : Sphere(s._radius, frame) {
    }
 
    inline
    Sphere::Sphere(const Geom::Frame& frame)
      : Sphere(0., frame) {
    }
 
    inline double
    Sphere::get_greatest_dimension() const {
      return get_radius()*2.;
    }
 
    inline
    AABB Sphere::aabb() const {
 
      Geom::Point globalCentre(get_center(), local_frame().ref, Geom::Frame::global);
      double minPoint[] = {globalCentre.x()-_radius, globalCentre.y()-_radius, globalCentre.z()-_radius};
      double maxPoint[] = {globalCentre.x()+_radius, globalCentre.y()+_radius, globalCentre.z()+_radius};
 
      return StaticAABBTree::new_lonely_aabb(minPoint, maxPoint);
    }
 
    inline double
    Sphere::get_volume() const {
      return 4.*M_PI*pow(_radius,3)/3.;
    }
 
    inline void
    Sphere::compute_inertia_tensor(double density, Geom::Tensor &m) const {
      m.clear();
      const double i = 2.*density*get_volume()*_radius*_radius/5.;
      m.xx() = m.yy() = m.zz() = i;
    }
 
    template<class Archive>
    inline void
    Sphere::serialize(Archive& ar, const unsigned int v) {
      ar & boost::serialization::base_object<Volume>(*this);
      ar & _radius;
      if(v >=1)
    Volume::update_bounding_shape();
    }
 
  }
}
 
//Don't forget to export for dynamic serialization of child class
#include <boost/serialization/export.hpp>
BOOST_CLASS_EXPORT_KEY(GranOO3::Shape::Sphere)
 
 
#include <boost/serialization/version.hpp>
BOOST_CLASS_VERSION(GranOO3::Shape::Sphere, 1)
GRANOO_SERIALIZE_SHAPE(Sphere)
 
 
namespace GranOO3
{
  extern template class Core::ObjectFactoryInterface<Shape::Base, Shape::Sphere>;
}
 
 
#endif