Polyface.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:  Polyface
*
*               Description:
*
*               Version:  2.0
*               Created:  Oct/20/2015
*
*               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 <windows.h>

// http://kiwwito.com/installing-opengl-glut-libraries-in-ubuntu/
#include "choreo_task_sequence_planner/utils/Geometry.h"

using namespace std;

typedef Geometry::Vector3d GeoV3;

class Polyface
{
public:
        Polyface(){}
        ~Polyface(){}

public:
        point Trans(GeoV3 V)
        {
                point v;
                v.x() = V.getX();
                v.y() = V.getY();
                v.z() = V.getZ();
                return v;
        }

        point v0()
        {
                return vert_list_[0];
        }

        point v1()
        {
                return vert_list_[1];
        }

        point v2()
        {
                return vert_list_[2];
        }

        point v3()
        {
                return vert_list_[3];
        }

        point Normal()
        {
                return normal_;
        }

        void Normal_()
        {
                GeoV3 normal;
                normal = Geometry::cross(v1() - v0(), v2() - v0());

                if (normal.norm() == 0)
                        return;
                normal.normalize();
                normal_ = Trans(normal);
        }

        virtual void                            Print() {}
        virtual void                            Render(WireFrame* ptr_frame, double alpha) {}

public:
        vector<point>                   vert_list_;
        point                                           normal_;
};