geometric_shape.h

/* -------------------------------------------------------------------------*
 *                              SPHinXsys                                   *
 * --------------------------------------------------------------------------*
 * SPHinXsys (pronunciation: s'finksis) is an acronym from Smoothed Particle    *
 * Hydrodynamics for industrial compleX systems. It provides C++ APIs for   *
 * physical accurate simulation and aims to model coupled industrial dynamic *
 * systems including fluid, solid, multi-body dynamics and beyond with SPH  *
 * (smoothed particle hydrodynamics), a meshless computational method using *
 * particle discretization.                                                 *
 *                                                                          *
 * SPHinXsys is partially funded by German Research Foundation              *
 * (Deutsche Forschungsgemeinschaft) DFG HU1527/6-1, HU1527/10-1                *
 * and HU1527/12-1.                                                         *
 *                                                                           *
 * Portions copyright (c) 2017-2020 Technical University of Munich and      *
 * the authors' affiliations.                                               *
 *                                                                           *
 * Licensed under the Apache License, Version 2.0 (the "License"); you may   *
 * not use this file except in compliance with the License. You may obtain a *
 * copy of the License at http://www.apache.org/licenses/LICENSE-2.0.        *
 *                                                                           *
 * --------------------------------------------------------------------------*/
#ifndef GEOMETRIC_SHAPE_H
#define GEOMETRIC_SHAPE_H

#include "base_geometry.h"
#include "simbody_middle.h"

namespace SPH
{
    class GeometricShape : public Shape
    {
    public:
        explicit GeometricShape(const std::string &shape_name)
            : Shape(shape_name), contact_geometry_(nullptr){};

        virtual bool checkContain(const Vec3d &pnt, bool BOUNDARY_INCLUDED = true) override;
        virtual Vec3d findClosestPoint(const Vec3d &pnt) override;

        SimTK::ContactGeometry *getContactGeometry() { return contact_geometry_; };

    protected:
        SimTK::ContactGeometry *contact_geometry_;
    };

    class GeometricShapeBox : public GeometricShape
    {
    private:
        SimTK::ContactGeometry::Brick brick_;

    public:
        explicit GeometricShapeBox(const Vec3d &halfsize,
                                   const std::string &shape_name = "GeometricShapeBox");
        virtual ~GeometricShapeBox(){};

        virtual bool checkContain(const Vec3d &pnt, bool BOUNDARY_INCLUDED = true) override;
        virtual Vec3d findClosestPoint(const Vec3d &pnt) override;

    protected:
        Vec3d halfsize_;

        virtual BoundingBox findBounds() override;
    };

    class GeometricShapeBall : public GeometricShape
    {
    private:
        Vec3d center_;
        SimTK::ContactGeometry::Sphere sphere_;

    public:
        explicit GeometricShapeBall(const Vec3d &center, const Real &radius,
                                    const std::string &shape_name = "GeometricShapeBall");
        virtual ~GeometricShapeBall(){};

        virtual bool checkContain(const Vec3d &pnt, bool BOUNDARY_INCLUDED = true) override;
        virtual Vec3d findClosestPoint(const Vec3d &pnt) override;

    protected:
        virtual BoundingBox findBounds() override;
    };

}

#endif // GEOMETRIC_SHAPE_H