00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00037 #include "pr2_navigation_self_filter/shapes.h" 00038 00039 shapes::Shape* shapes::cloneShape(const shapes::Shape *shape) 00040 { 00041 shapes::Shape *result = NULL; 00042 switch (shape->type) 00043 { 00044 case SPHERE: 00045 result = new Sphere(static_cast<const Sphere*>(shape)->radius); 00046 break; 00047 case CYLINDER: 00048 result = new Cylinder(static_cast<const Cylinder*>(shape)->radius, static_cast<const Cylinder*>(shape)->length); 00049 break; 00050 case BOX: 00051 result = new Box(static_cast<const Box*>(shape)->size[0], static_cast<const Box*>(shape)->size[1], static_cast<const Box*>(shape)->size[2]); 00052 break; 00053 case MESH: 00054 { 00055 const Mesh *src = static_cast<const Mesh*>(shape); 00056 Mesh *dest = new Mesh(src->vertexCount, src->triangleCount); 00057 unsigned int n = 3 * src->vertexCount; 00058 for (unsigned int i = 0 ; i < n ; ++i) 00059 dest->vertices[i] = src->vertices[i]; 00060 n = 3 * src->triangleCount; 00061 for (unsigned int i = 0 ; i < n ; ++i) 00062 { 00063 dest->triangles[i] = src->triangles[i]; 00064 dest->normals[i] = src->normals[i]; 00065 } 00066 result = dest; 00067 } 00068 break; 00069 default: 00070 break; 00071 } 00072 return result; 00073 } 00074 00075 shapes::StaticShape* shapes::cloneShape(const shapes::StaticShape *shape) 00076 { 00077 shapes::StaticShape *result = NULL; 00078 switch (shape->type) 00079 { 00080 case PLANE: 00081 result = new Plane(static_cast<const Plane*>(shape)->a, static_cast<const Plane*>(shape)->b, 00082 static_cast<const Plane*>(shape)->c, static_cast<const Plane*>(shape)->d); 00083 break; 00084 default: 00085 break; 00086 } 00087 00088 return result; 00089 }