shapes.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
* 
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
* 
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
* 
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
* 
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

#ifndef GEOMETRIC_SHAPES_SHAPES_
#define GEOMETRIC_SHAPES_SHAPES_

#include <cstdlib>

namespace shapes
{
    
    enum ShapeType { UNKNOWN_SHAPE, SPHERE, CYLINDER, BOX, MESH };

    enum StaticShapeType { UNKNOWN_STATIC_SHAPE, PLANE };
    
    
    class Shape
    {               
    public:         
        Shape(void)
        {
            type = UNKNOWN_SHAPE;
        }
        
        virtual ~Shape(void)
        {
        }

        ShapeType type;
    };

    class StaticShape
    {
    public:
        StaticShape(void)
        {
            type = UNKNOWN_STATIC_SHAPE;
        }
        
        virtual ~StaticShape(void)
        {
        }
        
        StaticShapeType type;
    };
    
    class Sphere : public Shape
    {
    public:
        Sphere(void) : Shape()
        {
            type   = SPHERE;
            radius = 0.0;
        }
        
        Sphere(double r) : Shape()
        {
            type   = SPHERE;
            radius = r;
        }
        
        double radius; 
    };
    
    class Cylinder : public Shape
    {
    public:
        Cylinder(void) : Shape()
        {
            type   = CYLINDER;
            length = radius = 0.0;
        }
        
        Cylinder(double r, double l) : Shape()
        {
            type   = CYLINDER;
            length = l;
            radius = r;
        }
        
        double length, radius; 
    };
    
    class Box : public Shape
    {
    public:
        Box(void) : Shape()
        {
            type = BOX;
            size[0] = size[1] = size[2] = 0.0;
        }
        
        Box(double x, double y, double z) : Shape()
        {
            type = BOX;
            size[0] = x;
            size[1] = y;
            size[2] = z;
        }
        
        double size[3]; 
    };
    
    class Mesh : public Shape
    {
    public:
        Mesh(void) : Shape()
        {
            type = MESH;
            vertexCount = 0;
            vertices = NULL;
            triangleCount = 0;
            triangles = NULL;
            normals = NULL;
        }
        
        Mesh(unsigned int vCount, unsigned int tCount) : Shape()
        {
            type = MESH;
            vertexCount = vCount;
            vertices = new double[vCount * 3];
            triangleCount = tCount;
            triangles = new unsigned int[tCount * 3];
            normals = new double[tCount * 3];
        }
        
        virtual ~Mesh(void)
        {
            if (vertices)
                delete[] vertices;
            if (triangles)
                delete[] triangles;
            if (normals)
                delete[] normals;
        }
        
        unsigned int  vertexCount;       

        double       *vertices;          

        unsigned int  triangleCount;     

        unsigned int *triangles;
        
        double       *normals;       
    };

    class Plane : public StaticShape
    {
    public:
        
        Plane(void) : StaticShape()
        {
            type = PLANE;
            a = b = c = d = 0.0;            
        }
        
        Plane(double pa, double pb, double pc, double pd) : StaticShape()
        {
            type = PLANE;
            a = pa; b = pb; c = pc; d = pd;
        }
        
        double a, b, c, d;
    };
    
}

#endif