shapes.cpp

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#include "pr2_navigation_self_filter/shapes.h"

shapes::Shape* shapes::cloneShape(const shapes::Shape *shape)
{
    shapes::Shape *result = NULL;
    switch (shape->type)
    {
    case SPHERE:
        result = new Sphere(static_cast<const Sphere*>(shape)->radius);
        break;
    case CYLINDER:
        result = new Cylinder(static_cast<const Cylinder*>(shape)->radius, static_cast<const Cylinder*>(shape)->length);
        break;
    case BOX:
        result = new Box(static_cast<const Box*>(shape)->size[0], static_cast<const Box*>(shape)->size[1], static_cast<const Box*>(shape)->size[2]);
        break;
    case MESH:
        {
            const Mesh *src = static_cast<const Mesh*>(shape);
            Mesh *dest = new Mesh(src->vertexCount, src->triangleCount);
            unsigned int n = 3 * src->vertexCount;
            for (unsigned int i = 0 ; i < n ; ++i)
                dest->vertices[i] = src->vertices[i];
            n = 3 * src->triangleCount;
            for (unsigned int i = 0 ; i < n ; ++i)
            {
                dest->triangles[i] = src->triangles[i];
                dest->normals[i] = src->normals[i];
            }
            result = dest;
        }
        break;
    default:
        break;
    }
    return result;
}

shapes::StaticShape* shapes::cloneShape(const shapes::StaticShape *shape)
{
    shapes::StaticShape *result = NULL;
    switch (shape->type)
    {
    case PLANE:
        result = new Plane(static_cast<const Plane*>(shape)->a, static_cast<const Plane*>(shape)->b, 
                           static_cast<const Plane*>(shape)->c, static_cast<const Plane*>(shape)->d);
        break;
    default:
        break;
    }
    
    return result;
}