CompositeShape.h

Go to the documentation of this file.

#ifndef GEOLIB_COMPOSITE_SHAPE_H_
#define GEOLIB_COMPOSITE_SHAPE_H_
 
#include "Shape.h"
#include "geolib/Box.h"
 
#include <vector>
 
namespace geo {
 
class Box;
 
class CompositeShape : public Shape {
 
public:
 
    CompositeShape();
 
    virtual ~CompositeShape();
 
    CompositeShape* clone() const;
 
    bool intersect(const Ray& r, float t0, float t1, double& distance) const;
 
    bool intersect(const Vector3& p, const double radius) const;
 
    bool contains(const Vector3& p) const;
 
    double getMaxRadius() const;
 
    void addShape(const Shape& shape, const Pose3D& pose);
 
    Box getBoundingBox() const;
 
    const std::vector<std::pair<ShapePtr, Transform> >& getShapes() const;
 
    void setMesh(const Mesh &mesh);
 
protected:
 
    std::vector<std::pair<ShapePtr, Transform> > shapes_;
 
    double max_radius_;
 
    Vector3 min_;
 
    Vector3 max_;
 
    Box bb_;
 
};
 
}
 
 
#endif