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3d_object.cc

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// -*-c++-*-
//---------------------------< /-/ CLARAty /-/ >------------------------------
/**
 * @file  3d_object.cc
 *
 * The N_3D_object class is a base class for modeling 3D objects. These
 * objects may be used in 3D graphical or collision applications.
 *
 * <br>@b Designer(s):  Hari Das Nayar, Issa Nesnas
 * <br>@b Author(s):    Hari Das Nayar
 * <br>@b Date:         August 4, 2005
 *
 * <b>Software License:</b><br>
 * <code> http://claraty.jpl.nasa.gov/license/open_src/  or 
 *        file: license/open_src.txt </code> 
 *
 * &copy; 2006, Jet Propulsion Laboratory, California Institute of Technology<br>
 *
 * $Revision: 1.6 $
 */
//-----------------------------------------------------------------------------

using namespace std;
#include "claraty/3d_object.h"
#include "claraty/xml_out.h"
#include <iostream>
#include <string>

namespace claraty {

//-------------------------------------------------------------------------
//--------------------------<< N_3D_Object Class >>--------------------------
//-------------------------------------------------------------------------
/**
 * Default constructor
 *
 * @ingroup N_3D_object_pkg
 */
N_3D_Object::N_3D_Object()
{
  _shape_type = OTHER;
  _number_of_dimensions = 0;
  _dimensions[0] = 0.0;
  _dimensions[1] = 0.0;
  _dimensions[2] = 0.0;
}

//-------------------------------------------------------------------------
/**
 * Copy constructor
 *
 * @param[in] shape_object Reference to N_3D_Object to be copied.
 *
 * @ingroup N_3D_object_pkg
 */
N_3D_Object::N_3D_Object(const N_3D_Object & shape_object)
{
  _shape_type = shape_object._shape_type;
  _number_of_dimensions = shape_object._number_of_dimensions;
  _dimensions[0] = shape_object._dimensions[0];
  _dimensions[1] = shape_object._dimensions[1];
  _dimensions[2] = shape_object._dimensions[2];
}

//----------------------------------------------------------------------------
/**
 * Get shape type. 
 *
 * @return The shape type.
 *
 * @ingroup N_3D_object_pkg
 */
N_3D_Object::SHAPE_TYPE 
N_3D_Object::get_shape_type()
{
#ifdef DEBUG
  cout << "Shape type is ";
  switch(_shape_type)
    {
    case N_3D_Object::BOX:
      cout << "box";
      break;
    case N_3D_Object::CYLINDER:
      cout << "cylinder";
      break;
    case N_3D_Object::SPHERE:
      cout << "sphere";
      break;
    case N_3D_Object::OTHER:
      cout << "other";
      break;
    }
  cout << endl;
#endif
  return _shape_type;
}

//----------------------------------------------------------------------------
/**
 * Set shape type. 
 *
 * @param[in] shape_type The string child name.
 *
 * @ingroup N_3D_object_pkg
 */
void 
N_3D_Object::set_shape_type(SHAPE_TYPE shape_type)
{
  _shape_type = shape_type;
#ifdef DEBUG
  cout << "Setting shape type to ";
  switch(_shape_type)
    {
    case N_3D_Object::BOX:
      cout << "box";
      break;
    case N_3D_Object::CYLINDER:
      cout << "cylinder";
      break;
    case N_3D_Object::SPHERE:
      cout << "sphere";
      break;
    case N_3D_Object::OTHER:
      cout << "other";
      break;
    }
  cout << endl;
#endif
}

//----------------------------------------------------------------------------
/**
 * Set number of shape dimensions. 
 *
 * @param[in] n_dimensions  Number of dimensions.
 *
 * @ingroup N_3D_object_pkg
 */
void 
N_3D_Object::set_number_of_dimensions(int n_dimensions)
{
  _number_of_dimensions = n_dimensions;
}
//----------------------------------------------------------------------------
/**
 * Get shape dimensions. 
 *
 * @return The number of dimensions.
 *
 * @ingroup N_3D_object_pkg
 */
void 
N_3D_Object::get_dimensions(double * dimensions)
{
  for (int i=0; i<_number_of_dimensions; ++i)
    {
      dimensions[i] = _dimensions[i];
    }
}

//----------------------------------------------------------------------------
/**
 * Set shape dimensions. 
 *
 * @param[in] dimensions
 *
 * @ingroup N_3D_object_pkg
 */
void 
N_3D_Object::set_dimensions(double * dimensions)
{
  for (int i=0; i<_number_of_dimensions; ++i)
    {
      _dimensions[i] = dimensions[i];
    }
}
//----------------------------------------------------------------------------
/**
 * Output to ostream
 *
 * @param[out] os  ostream to put output on.
 * @param[in]  n_3D_object  object to be output
 * @return ostream with output on it.
 *
 * @ingroup mechanism_model_io_pkg
 */
std::ostream & 
operator<< (std::ostream& os, N_3D_Object & n_3D_object)
{
  std::string spacing = "";
  spacing.append(XML_Out::get_indentation_space(), ' ');

#ifdef DEBUG
  cout << "In N_3D_Object_IO, about to output shape object_io of type ";
#endif
  double dimensions[NUMBER_OF_3D_OBJECT_DIMENSIONS];
  n_3D_object.get_dimensions(dimensions);
#ifdef DEBUG
  cout << "WHAT SHAPE: " << n_3D_object.get_shape_type() << "\n";
#endif
  switch (n_3D_object.get_shape_type())
    {
    case N_3D_Object::BOX:
#ifdef DEBUG
  cout << "Box" << n_3D_object.get_shape_type() << endl;
#endif
      os << spacing;
      os << "<Box ";
      os << "x = \"" << dimensions[0] << "\" ";
      os << "y = \"" << dimensions[1] << "\" ";
      os << "z = \"" << dimensions[2] << "\" ";
      os << "/>\n";
      break;
    case N_3D_Object::CYLINDER:
#ifdef DEBUG
  cout << "Cylinder" << n_3D_object.get_shape_type() << endl;
#endif
      os << spacing;
      os << "<Cylinder ";
      os << "radius = \"" << dimensions[0] << "\" ";
      os << "height = \"" << dimensions[1] << "\" ";
      os << "/>\n";
      break;
    case N_3D_Object::SPHERE:
#ifdef DEBUG
  cout << "Sphere" << n_3D_object.get_shape_type() << endl;
#endif
      os << spacing;
      os << "<Sphere ";
      os << "radius = \"" << dimensions[0] << "\" ";
      os << "/>\n";
      break;
    case N_3D_Object::OTHER:
      os << "other ";
      break;
    }
  

  return os;
}
//----------------------------------------------------------------------------

} // namespace claraty

Last modified: June 05 2007 10:19:53

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