basic/geometry/MPK_Sphere.cpp

Go to the documentation of this file.

//## begin module%36FE7C01006E.cm preserve=no
//        %X% %Q% %Z% %W%
//## end module%36FE7C01006E.cm

//## begin module%36FE7C01006E.cp preserve=no
//## end module%36FE7C01006E.cp

//## Module: MPK_Sphere%36FE7C01006E; Pseudo Package body
//## Source file: C:\user\gipson\projects\mpk\code\geometry\MPK_Sphere.cpp

//## begin module%36FE7C01006E.additionalIncludes preserve=no
//## end module%36FE7C01006E.additionalIncludes

//## begin module%36FE7C01006E.includes preserve=yes
#include "geometry\MPK_Cylinder.h"
//## end module%36FE7C01006E.includes

// MPK_Sphere
#include "geometry\MPK_Sphere.h"
// FrameManager
#include "Kinematics\FrameManager.h"
//## begin module%36FE7C01006E.additionalDeclarations preserve=yes
//## end module%36FE7C01006E.additionalDeclarations


// Class MPK_Sphere 



MPK_Sphere::MPK_Sphere (FrameManager* frameManager)
  //## begin MPK_Sphere::MPK_Sphere%922649214.hasinit preserve=no
  //## end MPK_Sphere::MPK_Sphere%922649214.hasinit
  //## begin MPK_Sphere::MPK_Sphere%922649214.initialization preserve=yes
  : ObjectBase( frameManager ),
        radius( 0 )
  //## end MPK_Sphere::MPK_Sphere%922649214.initialization
{
  //## begin MPK_Sphere::MPK_Sphere%922649214.body preserve=yes
  //## end MPK_Sphere::MPK_Sphere%922649214.body
}

MPK_Sphere::MPK_Sphere (const MPK_Sphere& right)
  //## begin MPK_Sphere::MPK_Sphere%922649215.hasinit preserve=no
  //## end MPK_Sphere::MPK_Sphere%922649215.hasinit
  //## begin MPK_Sphere::MPK_Sphere%922649215.initialization preserve=yes
  : ObjectBase( right )
  //## end MPK_Sphere::MPK_Sphere%922649215.initialization
{
  //## begin MPK_Sphere::MPK_Sphere%922649215.body preserve=yes
        radius = right.radius;
        position = right.position;
  //## end MPK_Sphere::MPK_Sphere%922649215.body
}


MPK_Sphere::~MPK_Sphere()
{
  //## begin MPK_Sphere::~MPK_Sphere%.body preserve=yes
  //## end MPK_Sphere::~MPK_Sphere%.body
}



//## Other Operations (implementation)
Entity* MPK_Sphere::Clone () const
{
  //## begin MPK_Sphere::Clone%922649212.body preserve=yes
        ObjectBase* returnme = new MPK_Sphere( *this );
        return returnme;
  //## end MPK_Sphere::Clone%922649212.body
}

bool MPK_Sphere::IsInterfering (const Entity* entity) const
{
  //## begin MPK_Sphere::IsInterfering%925235848.body preserve=yes
        assert( CanCheckInterference( entity ) );       //IMPROVE: this should be error handled
        
        //determine the type of the entity
        if( dynamic_cast< const MPK_Sphere* >( entity ) != NULL )
        {
                return( IsInterfering( dynamic_cast< const MPK_Sphere* >( entity ) ) );
        }
        if( dynamic_cast< const MPK_Cylinder* >( entity ) != NULL )
        {
                return( IsInterfering( dynamic_cast< const MPK_Cylinder* >( entity ) ) );
        }
        else
        {
                assert( false );        //should never get to here due to the assert( CanCheckInterference )
        }
        return false;
  //## end MPK_Sphere::IsInterfering%925235848.body
}

bool MPK_Sphere::IsInterfering (const MPK_Sphere* entity) const
{
  //## begin MPK_Sphere::IsInterfering%925235850.body preserve=yes
        //find the transformation frame between the two spheres
        Matrix4x4 r1 = frameManager->GetTransformRelative( baseFrame, 0 );
        Matrix4x4 r2 = frameManager->GetTransformRelative( entity->baseFrame , 0 );
        Matrix4x4 relative = r1.Inverse() * r2;
        
        //calculate the distance between centers
        Vector4 actualP1 = theFrame * position;                                                 //IMPROVE: get rid of theFrame;
        Vector4 actualP2 = entity->theFrame * relative * entity->position;
        double dist = ( actualP1 - actualP2 ).Magnitude();
        if( dist > radius + entity->radius )    //IMPROVE: use MagSquared
        {
                return false;
        }
        return true;
  //## end MPK_Sphere::IsInterfering%925235850.body
}

void MPK_Sphere::SetRadius (const double  radius)
{
  //## begin MPK_Sphere::SetRadius%925235854.body preserve=yes
        this->radius = radius;
  //## end MPK_Sphere::SetRadius%925235854.body
}

Vector4 MPK_Sphere::Position () const
{
  //## begin MPK_Sphere::Position%926709627.body preserve=yes
        return position;
  //## end MPK_Sphere::Position%926709627.body
}

void MPK_Sphere::SetPosition (const Vector4& position)
{
  //## begin MPK_Sphere::SetPosition%925235855.body preserve=yes
        this->position = position;
  //## end MPK_Sphere::SetPosition%925235855.body
}

void MPK_Sphere::Serialize (ostream& os) const
{
  //## begin MPK_Sphere::Serialize%934220966.body preserve=yes
        assert( false );
  //## end MPK_Sphere::Serialize%934220966.body
}

bool MPK_Sphere::CanCheckInterference (const Entity* entity) const
{
  //## begin MPK_Sphere::CanCheckInterference%926300302.body preserve=yes
        if( dynamic_cast< const MPK_Sphere* >( entity ) != NULL )
        {
                return true;
        }
        if( dynamic_cast< const MPK_Cylinder* >( entity ) != NULL )
        {
                return true;
        }
        return false;
  //## end MPK_Sphere::CanCheckInterference%926300302.body
}

double MPK_Sphere::Radius () const
{
  //## begin MPK_Sphere::Radius%926807002.body preserve=yes
        return radius;
  //## end MPK_Sphere::Radius%926807002.body
}

void MPK_Sphere::Deserialize (IfstreamWithComments& is)
{
  //## begin MPK_Sphere::Deserialize%934220967.body preserve=yes
        assert( false );
  //## end MPK_Sphere::Deserialize%934220967.body
}

void MPK_Sphere::SetFrame (const Matrix4x4& frame)
{
  //## begin MPK_Sphere::SetFrame%946343614.body preserve=yes
        //extract the position information from the frame, and alter the sphere's position
        Vector4 position;
        position[ 0 ] = frame( 0, 3 );
        position[ 1 ] = frame( 1, 3 );
        position[ 2 ] = frame( 2, 3 );

        this->position = position;
        
  //## end MPK_Sphere::SetFrame%946343614.body
}

bool MPK_Sphere::IsInterfering (const MPK_Cylinder* entity) const
{
  //## begin MPK_Sphere::IsInterfering%970176404.body preserve=yes
        //determine where the end points of the sphere and cylinder are
        Vector4 sphereCenter = this->position;
        Vector4 c1 = entity->GetTransform() * Vector4( 0, 0, -entity->Height() / 2 );
        Vector4 c2 = entity->GetTransform() * Vector4( 0, 0,  entity->Height() / 2 );

//      assert( false );
        return false;
  //## end MPK_Sphere::IsInterfering%970176404.body
}

bool MPK_Sphere::Verify() const
{
        return true;
}

// Additional Declarations
  //## begin MPK_Sphere%36FE7C01006E.declarations preserve=yes
  //## end MPK_Sphere%36FE7C01006E.declarations

//## begin module%36FE7C01006E.epilog preserve=yes
//## end module%36FE7C01006E.epilog

---