geometricForm.hpp

#ifndef GEOMETRICFORM_H
#define GEOMETRICFORM_H

#include "P3d-pkg.h"
//#include "API/Device/robot.hpp"
#include "Graphic-pkg.h"
#include "Logging/Logger.h"



class GeometricForm
{
    MOVE3D_STATIC_LOGGER;
public:
    GeometricForm() {}

    virtual bool isPointInForm(p3d_point p) = 0;

    virtual double distHToPoint(p3d_point p) = 0;

    virtual double getDistanceFromPoint(p3d_point p) = 0;

    virtual double getPlannarDistanceFromPoint(p3d_point p) = 0;

    virtual p3d_point getRandomPointInForm() = 0;

    virtual std::vector<p3d_point> getFormGrid(double sampleRate) = 0;

    virtual GeometricForm* getTransformedForm(p3d_matrix4 M) = 0;


    virtual void draw() = 0;



    p3d_point transformPoint(p3d_point a, p3d_matrix4 M);

    void transformVector(p3d_vector3 src, p3d_matrix4 M, p3d_vector3 res);

    void getNorm(p3d_vector3 v){p3d_vectCopy(_norm,v);}


    std::string type;

    bool isSupport;

    std::map<std::string,GeometricForm*> supportAreas;

protected:

    p3d_vector3 _norm;

};

#endif // GEOMETRICFORM_H