CShapeEllipsoid.h

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//==============================================================================
/*
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    \author    <http://www.chai3d.org>
    \author    Francois Conti
    \version   3.2.0 $Rev: 2166 $
*/
//==============================================================================

//------------------------------------------------------------------------------
#ifndef CShapeEllipsoidH
#define CShapeEllipsoidH
//------------------------------------------------------------------------------
#include "world/CGenericObject.h"
#include "materials/CMaterial.h"
#include "materials/CTexture2d.h"
//------------------------------------------------------------------------------
#ifdef C_USE_OPENGL
#ifdef MACOSX
#include "OpenGL/glu.h"
#else
#include "GL/glu.h"
#endif
#endif
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
namespace chai3d {
//------------------------------------------------------------------------------

//==============================================================================
//==============================================================================

//==============================================================================
//==============================================================================
class cShapeEllipsoid : public cGenericObject
{
    //--------------------------------------------------------------------------
    // CONSTRUCTOR & DESTRUCTOR:
    //--------------------------------------------------------------------------

public:

    cShapeEllipsoid(const double& a_radiusX,
                    const double& a_radiusY,
                    const double& a_radiusZ,
                    cMaterialPtr a_material = cMaterialPtr());

    virtual ~cShapeEllipsoid();


    //--------------------------------------------------------------------------
    // PUBLIC METHODS:
    //--------------------------------------------------------------------------

public:

    cShapeEllipsoid* copy(const bool a_duplicateMaterialData = false,
        const bool a_duplicateTextureData = false, 
        const bool a_duplicateMeshData = false,
        const bool a_buildCollisionDetector = false);

    void setRadii(const double& a_radiusX, const double& a_radiusY, const double& a_radiusZ);

    void setRadiusX(const double& a_radiusX);

    inline double getRadiusX() const { return (m_radiusX); }

    void setRadiusY(const double& a_radiusY);

    inline double getRadiusY() const { return (m_radiusY); }

    void setRadiusZ(const double& a_radiusZ);

    inline double getRadiusZ() const { return (m_radiusZ); }


    //--------------------------------------------------------------------------
    // PROTECTED METHODS:
    //--------------------------------------------------------------------------

protected:

    virtual void render(cRenderOptions& a_options);

    virtual void updateBoundaryBox();

    virtual void scaleObject(const double& a_scaleFactor);

    virtual void computeLocalInteraction(const cVector3d& a_toolPos,
        const cVector3d& a_toolVel,
        const unsigned int a_IDN);

    virtual bool computeOtherCollisionDetection(cVector3d& a_segmentPointA,
        cVector3d& a_segmentPointB,
        cCollisionRecorder& a_recorder,
        cCollisionSettings& a_settings);


    //-----------------------------------------------------------------------
    // PROTECTED METHODS:
    //-----------------------------------------------------------------------

protected:

    void copyShapeEllipsoidProperties(cShapeEllipsoid* a_obj,
        const bool a_duplicateMaterialData,
        const bool a_duplicateTextureData, 
        const bool a_duplicateMeshData,
        const bool a_buildCollisionDetector);


    //--------------------------------------------------------------------------
    // PROTECTED MEMBERS:
    //--------------------------------------------------------------------------

protected:

    double m_radiusX;

    double m_radiusY;

    double m_radiusZ;

    GLUquadricObj *m_quadric;
};

//------------------------------------------------------------------------------
} // namespace chai3d
//------------------------------------------------------------------------------

//------------------------------------------------------------------------------
#endif
//------------------------------------------------------------------------------