imstkSphere.cpp

/*
** 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.
*/

#include "imstkSphere.h"
#include "imstkLogger.h"

namespace imstk
{
void
Sphere::print() const
{
    AnalyticalGeometry::print();
    LOG(INFO) << "Radius: " << m_radius;
}

double
Sphere::getRadius(DataType type /* = DataType::PostTransform */)
{
    if (type == DataType::PostTransform)
    {
        this->updatePostTransformData();
        return m_radiusPostTransform;
    }
    return m_radius;
}

void
Sphere::setRadius(const double r)
{
    if (r <= 0)
    {
        LOG(WARNING) << "error: radius supplied is negative";
        return;
    }
    m_radius = r;
    m_transformApplied = false;
    this->postModified();
}

void
Sphere::computeBoundingBox(Vec3d& lowerCorner, Vec3d& upperCorner, const double paddingPercent)
{
    updatePostTransformData();
    const Vec3d span = Vec3d(1, 1, 1) * m_radiusPostTransform;
    lowerCorner = m_positionPostTransform - span;
    upperCorner = m_positionPostTransform + span;
    if (paddingPercent > 0.0)
    {
        const Vec3d range = upperCorner - lowerCorner;
        lowerCorner = lowerCorner - range * (paddingPercent / 100.0);
        upperCorner = upperCorner + range * (paddingPercent / 100.0);
    }
}

void
Sphere::applyTransform(const Mat4d& m)
{
    AnalyticalGeometry::applyTransform(m);
    /*const Vec3d s = Vec3d(
        m.block<3, 1>(0, 0).norm(),
        m.block<3, 1>(0, 1).norm(),
        m.block<3, 1>(0, 2).norm());*/
    const double s0 = m.block<3, 1>(0, 0).norm();
    this->setRadius(m_radius * s0);
}

void
Sphere::updatePostTransformData() const
{
    if (m_transformApplied)
    {
        return;
    }
    AnalyticalGeometry::updatePostTransformData();
    const double s0 = m_transform.block<3, 1>(0, 0).norm();
    m_radiusPostTransform = s0 * m_radius;
    m_transformApplied    = true;
}
} // namespace imstk