ExtruderCone.h

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/*
* ==========================================================================
*               This file is part of the implementation of
*
*               <FrameFab: Robotic Fabrication of Frame Shapes>
*               Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
*               In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
----------------------------------------------------------------------------
*               class:  ExtruderCone
*
*               Description:  This class maintains extruder bounding cone info
*                                  and OpenGL rendering interfaces.
*
*               Version: 2.0
*               Created: Oct/20/2015
*               Updated: Aug/24/2016
*
*               Author:  Xin Hu, Yijiang Huang, Guoxian Song
*               Company:  GCL@USTC
*               Citation:       This file use some geometric API and objects from
*                       Title:                  Geometric Tools Engine
*                                                       a library of source code for computing in the fields of
*                                                       mathematics, graphics, image analysis, and physics.
*                       Code Version:   3.2.6
*                       Availability:   http://www.geometrictools.com/index.html
----------------------------------------------------------------------------
*               Copyright (C) 2016  Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
*               and Ligang Liu.
*
*               FrameFab 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.
*
*               FrameFab 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 FrameFab.  If not, see <http://www.gnu.org/licenses/>.
* ==========================================================================
*/

#pragma once
#include "choreo_task_sequence_planner/utils/GCommon.h"
#include "choreo_task_sequence_planner/utils/WireFrame.h"
#include "choreo_task_sequence_planner/utils/Triangle.h"

using namespace std;
using namespace Geometry;

class ExtruderCone
{
public:
        ExtruderCone();
        ExtruderCone(
                double height, 
                point base_point, 
                Vec3f normal, 
                double angle
        );
        ~ExtruderCone();

public:
        /* Data I/O */
        double Height() { return height_; }
        double Angle() { return angle_; }
        double WaveAngle() { return wave_angle_; }
        double ToolLenth() { return tool_lenth_; }
        double Radii() { return radii_; }
        double CyclinderLenth(){ return cyclinder_height_; }
        point   BasePoint() { return base_point_; }
        Vec3f   Normal()        { return normal_; }


        /*top cylidner*/
        double TopCenter(){ return top_cylin_center_lenth_; }
        double TopLenth(){ return top_cylin_lenth_; }
        double TopRadii(){ return top_cylin_radii_; }
        /* Generate Extruder Cone */
        void GeneCone();

        /* Debug Screenplay Function */
        void    Test();

        /* Geometric transformation, for rendering purpose */
        void    RotateTri(Triangle temp);
    point       Multi(point s);
        void    Rotation(double angle, point start, point end);
        void    Rotation(GeoV3 normal, point start, point end);

        /* OpenGL Rendering Interface */
        void    Render(WireFrame* ptr_frame, double alpha);

private:
        /* Extruder Property Data */
        double angle_;
        double height_;
        double tool_lenth_;
        double radii_;
        double cyclinder_height_;

        double                   wave_angle_;
    vector<Triangle> side_;
        point                    base_point_;
        Vec3f                    normal_;

        /* Extruder Render Data */
        int                              divide_;       /* Traingle division for cone     */
        vector<Triangle> side_end_;  /* Triangle Approx for the cone   */
        vector<point>    top_;          /* Ploygon represent top covering */

        /* Transformation for Rendering */
        float rotate_[4][4];
        point start_,end_;

        //Top_Cylinder
        double top_cylin_center_lenth_;
        double top_cylin_lenth_;
        double top_cylin_radii_;
};