imstkAnalyticalGeometry.h

/*
** This file is part of the Interactive Medical Simulation Toolkit (iMSTK)
** iMSTK is distributed under the Apache License, Version 2.0.
** See accompanying NOTICE for details.
*/

#pragma once

#include "imstkImplicitGeometry.h"

namespace imstk
{
class AnalyticalGeometry : public ImplicitGeometry
{
public:
    ~AnalyticalGeometry() override = default;

    void print() const override;

    // Accessors
    Vec3d getPosition(DataType type = DataType::PostTransform);

    void setPosition(const Vec3d p);
    void setPosition(const double x, const double y, const double z);

    Quatd getOrientation(DataType type = DataType::PostTransform);

    void setOrientation(const Quatd r);

    double getFunctionValue(const Vec3d& imstkNotUsed(pos)) const override { return 0.0; }

    void updatePostTransformData() const override;

protected:
    AnalyticalGeometry();

    void applyTransform(const Mat4d& m) override;

    Vec3d m_position;                         
    mutable Vec3d m_positionPostTransform;    
    Quatd m_orientation;                      
    mutable Quatd m_orientationPostTransform; 
};
} // namespace imstk