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/*
* Copyright 2018 Open Source Robotics Foundation
*
* 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
*
* Unless required by applicable law or agreed to in writing, software
* distributed under the License is distributed on an "AS IS" BASIS,
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
* See the License for the specific language governing permissions and
* limitations under the License.
*
*/
#ifndef SDF_GEOMETRY_HH_
#define SDF_GEOMETRY_HH_
#include <ignition/utils/ImplPtr.hh>
#include <sdf/Error.hh>
#include <sdf/Element.hh>
#include <sdf/sdf_config.h>
namespace sdf
{
// Inline bracket to help doxygen filtering.
inline namespace SDF_VERSION_NAMESPACE {
//
// Forward declare private data class.
class Box;
class Capsule;
class Cylinder;
class Ellipsoid;
class Heightmap;
class Mesh;
class Plane;
class Sphere;
/// \enum GeometryType
/// \brief The set of geometry types.
enum class GeometryType
{
/// \brief Empty geometry. This means no shape has been defined.
EMPTY = 0,
/// \brief A box geometry.
BOX = 1,
/// \brief A cylinder geometry.
CYLINDER = 2,
/// \brief A plane geometry.
PLANE = 3,
/// \brief A sphere geometry.
SPHERE = 4,
/// \brief A mesh geometry.
MESH = 5,
/// \brief A heightmap geometry.
HEIGHTMAP = 6,
/// \brief A capsule geometry.
CAPSULE = 7,
/// \brief An ellipsoid geometry
ELLIPSOID = 8,
};
/// \brief Geometry provides access to a shape, such as a Box. Use the
/// Type function to determine the type of shape contained within a
/// Geometry. Access to shape data, such as a box's size, is achieved
/// through the shape accessors, such as const Box *BoxShape() const.
class SDFORMAT_VISIBLE Geometry
{
/// \brief Default constructor
public: Geometry();
/// \brief Load the geometry based on a element pointer. This is *not* the
/// usual entry point. Typical usage of the SDF DOM is through the Root
/// object.
/// \param[in] _sdf The SDF Element pointer
/// \return Errors, which is a vector of Error objects. Each Error includes
/// an error code and message. An empty vector indicates no error.
public: Errors Load(ElementPtr _sdf);
/// \brief Get the type of geometry.
/// \return The geometry type.
public: GeometryType Type() const;
/// \brief Set the type of geometry.
/// \param[in] _type The geometry type.
public: void SetType(const GeometryType _type);
/// \brief Get the box geometry, or nullptr if the contained geometry is
/// not a box.
/// \return Pointer to the visual's box geometry, or nullptr if the
/// geometry is not a box.
/// \sa GeometryType Type() const
public: const Box *BoxShape() const;
/// \brief Set the box shape.
/// \param[in] _box The box shape.
public: void SetBoxShape(const Box &_box);
/// \brief Get the capsule geometry, or nullptr if the contained
/// geometry is not a capsule.
/// \return Pointer to the capsule geometry, or nullptr if the
/// geometry is not a capsule.
/// \sa GeometryType Type() const
public: const Capsule *CapsuleShape() const;
/// \brief Set the capsule shape.
/// \param[in] _capsule The capsule shape.
public: void SetCapsuleShape(const Capsule &_capsule);
/// \brief Get the cylinder geometry, or nullptr if the contained
/// geometry is not a cylinder.
/// \return Pointer to the visual's cylinder geometry, or nullptr if the
/// geometry is not a cylinder.
/// \sa GeometryType Type() const
public: const Cylinder *CylinderShape() const;
/// \brief Set the cylinder shape.
/// \param[in] _cylinder The cylinder shape.
public: void SetCylinderShape(const Cylinder &_cylinder);
/// \brief Get the ellipsoid geometry, or nullptr if the contained
/// geometry is not an ellipsoid.
/// \return Pointer to the ellipsoid geometry, or nullptr if the geometry is
/// not an ellipsoid.
/// \sa GeometryType Type() const
public: const Ellipsoid *EllipsoidShape() const;
/// \brief Set the ellipsoid shape.
/// \param[in] _ellipsoid The ellipsoid shape.
public: void SetEllipsoidShape(const Ellipsoid &_ellipsoid);
/// \brief Get the sphere geometry, or nullptr if the contained geometry is
/// not a sphere.
/// \return Pointer to the visual's sphere geometry, or nullptr if the
/// geometry is not a sphere.
/// \sa GeometryType Type() const
public: const Sphere *SphereShape() const;
/// \brief Set the sphere shape.
/// \param[in] _sphere The sphere shape.
public: void SetSphereShape(const Sphere &_sphere);
/// \brief Get the plane geometry, or nullptr if the contained geometry is
/// not a plane.
/// \return Pointer to the visual's plane geometry, or nullptr if the
/// geometry is not a plane.
/// \sa GeometryType Type() const
public: const Plane *PlaneShape() const;
/// \brief Set the plane shape.
/// \param[in] _plane The plane shape.
public: void SetPlaneShape(const Plane &_plane);
/// \brief Get the mesh geometry, or nullptr if the contained geometry is
/// not a mesh.
/// \return Pointer to the visual's mesh geometry, or nullptr if the
/// geometry is not a mesh.
/// \sa GeometryType Type() const
public: const Mesh *MeshShape() const;
/// \brief Set the mesh shape.
/// \param[in] _mesh The mesh shape.
public: void SetMeshShape(const Mesh &_mesh);
/// \brief Get the heightmap geometry, or nullptr if the contained geometry
/// is not a heightmap.
/// \return Pointer to the heightmap geometry, or nullptr if the geometry is
/// not a heightmap.
/// \sa GeometryType Type() const
public: const Heightmap *HeightmapShape() const;
/// \brief Set the heightmap shape.
/// \param[in] _heightmap The heightmap shape.
public: void SetHeightmapShape(const Heightmap &_heightmap);
/// \brief Get a pointer to the SDF element that was used during
/// load.
/// \return SDF element pointer. The value will be nullptr if Load has
/// not been called.
public: sdf::ElementPtr Element() const;
/// \brief Private data pointer.
IGN_UTILS_IMPL_PTR(dataPtr)
};
}
}
#endif
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