TAPsImplicitObject_Torus.cpp

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/******************************************************************************
TAPsImplicitObject_Torus.cpp
******************************************************************************/
/******************************************************************************
SUKITTI PUNAK   (10/14/2009)
UPDATE          (09/03/2010)
******************************************************************************/
#include "TAPsImplicitObject_Torus.hpp"
// Using Inclusion Model (i.e. definitions are included in declarations)
//                       (this name.cpp is included in name.hpp)
// Each friend is defined directly inside its declaration.

BEGIN_NAMESPACE_TAPs
//=============================================================================

// Default constructor
template <typename T>
ImplicitObject_Torus<T>::ImplicitObject_Torus ( T inner_radius, T outer_radius, std::string & name )
    : ImplicitObject<T>( Enum::TORUS, name )
    , m_InnerRadius( inner_radius )
    , m_OuterRadius( outer_radius )
{}


// Copy constructor
template <typename T>
ImplicitObject_Torus<T>::ImplicitObject_Torus ( ImplicitObject_Torus<T> const & obj )
    : ImplicitObject<T>( obj )
    , m_InnerRadius( obj.inner_radius )
    , m_OuterRadius( obj.outer_radius )
{}


// Destructor
template <typename T>
ImplicitObject_Torus<T>::~ImplicitObject_Torus ()
{}


// Return this object info as a string
template <typename T>
std::string ImplicitObject_Torus<T>::StrInfo () const
{
    std::ostringstream ss;
    ss << "ImplicitObject_Torus<" << typeid(T).name() << ">\n";
    ss << "ID:\t" << m_ID << "; Name:\t" << m_Name << "\n";
    ss << "Inner radius:\t" << m_InnerRadius << "; ";
    ss << "Outer radius:\t" << m_OuterRadius << "\n";
    ss << "Transformation Support: " << m_Trx;

    return ss.str();
}


// Assignment Operator
template <typename T>
inline ImplicitObject_Torus<T> & ImplicitObject_Torus<T>::operator= ( ImplicitObject_Torus<T> const &orig )
{   
    m_Name      = orig.m_Name;
    m_Trx       = orig.m_Trx;
    m_InnerRadius   = orig.m_InnerRadius;
    m_OuterRadius   = orig.m_OuterRadius;

    return *this;
}


// Build a BVH tree for this implicit torus
template <typename T>
void ImplicitObject_Torus<T>::BuildBVHTree ( int details, Enum::CD treeType )
{
    // m_pBVHTree is inherited from ColDetSupport class
    if ( m_pBVHTree )   delete m_pBVHTree;

    switch ( treeType ) {
        case Enum::BVH_TREE_BINARY_SPHERE:
            {
                BVHNode<T> * rootNode = new BVHNodeLeaf<T>( Enum::BVH_NODE_LEAF_SPHERE, 0 );
                rootNode->SetCenter( 0, 0, 0 );
                rootNode->SetRadius( m_OuterRadius+m_InnerRadius );
                m_pBVHTree = new BVHTree_BinarySphere<T>( GetTransform(), 1, rootNode );
            }
            break;
        default:
            std::cout << "ImplicitObject_Torus<T>::BuildBVHTree for Tree Type (" << treeType << ") NOT IMPLEMENTED YET!\n";
            break;
    }
}


// Get transformed radii
template <typename T>
void ImplicitObject_Torus<T>::GetTransformedRadii ( T & inner_radius, T & outer_radius ) const
{
    Vector3<T> pt2( (m_Trx.RefToMatrixTransform() * Vector4<T>( m_OuterRadius+m_InnerRadius, 0, 0, 1 )).GetVector3() );
    Vector3<T> pt1( (m_Trx.RefToMatrixTransform() * Vector4<T>( m_OuterRadius, 0, 0, 1 )).GetVector3() );
    inner_radius = (pt2 - pt1).Length();
    outer_radius = (pt1 - GetTransformedCenter()).Length();
}


// Get transformed axis
template <typename T>
Vector3<T> ImplicitObject_Torus<T>::GetTransformedAxis () const
{
    return (m_Trx.RefToMatrixTransform() * Vector4<T>( 0, 0, 1, 1 )).GetVector3() - GetTransformedCenter();
}


//-----------------------------------------------------------------------------
#if defined(__gl_h_) || defined(__GL_H__)
//-----------------------------------------------------------------------------
// Drawn by OpenGL
template <typename T>
void ImplicitObject_Torus<T>::Draw( GLenum mode, GLint nsides, GLint rings )
{
    #ifdef  TAPs_USE_GLSL
    assert( ShaderProgram );
    OpenGL::GlobalGLSLShaderPool::GetShaderProgram( ShaderName )->BeginGLSL();
    OpenGL::GlobalGLSLShaderPool::SetShaderParameters( ShaderName );
    #endif//TAPs_USE_GLSL

    //GLfloat mat[16];
    //glGetFloatv( GL_MODELVIEW_MATRIX, mat );
    //std::cout << mat[ 0] << "\t" << mat[ 4] << "\t" << mat[ 8] << "\t" << mat[12] << "\n";
    //std::cout << mat[ 1] << "\t" << mat[ 5] << "\t" << mat[ 9] << "\t" << mat[13] << "\n";
    //std::cout << mat[ 2] << "\t" << mat[ 6] << "\t" << mat[10] << "\t" << mat[14] << "\n";
    //std::cout << mat[ 3] << "\t" << mat[ 7] << "\t" << mat[11] << "\t" << mat[15] << "\n";

    glPushAttrib( GL_ALL_ATTRIB_BITS );
    glPushMatrix();

    #ifdef  TAPs_SHOW_COLLISION_STATE
        static GLfloat color1[] = { 0.75, 0.3, 0.3, 1.0 };
        static GLfloat color2[] = { 0.3, 0.75, 0.3, 1.0 };
        if ( IsCollided ) {
            glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color1 );
        }
        else {
            glMaterialfv( GL_FRONT_AND_BACK, GL_AMBIENT_AND_DIFFUSE, color2 );
        }
    #endif//TAPs_SHOW_COLLISION_STATE
        
    m_Trx.TransformByOpenGLForDrawing();
    switch ( mode ) {
        case GL_LINES:
            glutWireTorus( m_InnerRadius, m_OuterRadius, nsides, rings );
            break;
        default:
            glutSolidTorus( m_InnerRadius, m_OuterRadius, nsides, rings );
            break;
    }

    glPopMatrix();

    /*
    // Draw Axis
    glLineWidth( 5 );
    glBegin( GL_LINES );
        glVertex3fv( GetTransformedCenter().GetDataFloat() );
        glVertex3fv( (GetTransformedAxis()+GetTransformedCenter()).GetDataFloat() );
    glEnd();
    //*/

    glPopAttrib();

    #ifdef  TAPs_USE_GLSL
    OpenGL::GlobalGLSLShaderPool::GetShaderProgram( ShaderName )->EndGLSL();
    #endif//TAPs_USE_GLSL
}
//-----------------------------------------------------------------------------
#endif // #if defined(__gl_h_) || defined(__GL_H__)
//-----------------------------------------------------------------------------
//=============================================================================
END_NAMESPACE_TAPs
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