shape_poly_super_quadrics.hpp

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#pragma once
 
#include "shape.hpp"
#include <iostream>
 
namespace netdem {
 
class PolySuperQuadrics : public Shape {
public:
  Vec2d axis_a{0.5, 0.5}, axis_b{0.5, 0.5}, axis_c{0.5, 0.5};
  Vec2d order_a{1.0, 1.0}, order_b{1.0, 1.0}, order_c{1.0, 1.0};
 
  // translating and rotating by pos_ref and quat_ref to convert to centroid and
  // axies aligned shape
  Vec3d pos_ref{0, 0, 0};
  Vec4d quat_ref{1, 0, 0, 0}, quat_conj{1, 0, 0, 0};
 
  PolySuperQuadrics();
 
  PolySuperQuadrics(double am, double ap, double bm, double bp, double cm,
                    double cp, double nam, double nap, double nbm, double nbp,
                    double ncm, double ncp);
 
  Shape *Clone() const override;
 
  nlohmann::json PackJson() override;
 
  void InitFromJson(nlohmann::json const &js) override;
 
  void Init();
 
  void UpdateSurfaceNodes() override;
 
  void UpdateShapeProperties() override;
 
  void SetSize(double d) override;
 
  STLModel GetSTLModel(int num_nodes = 200) override;
 
  Vec3d SupportPoint(Vec3d const &dir) override;
 
  VecXT<Vec3d> SupportPoints(Vec3d const &dir) override;
 
  double SignedDistance(Vec3d const &pos) const override;
 
  Vec3d SurfacePoint(Vec3d const &pos) override;
 
  Vec3d ParametrizationPoint(Vec3d const &dir);
 
  // double CalculateRho(Vec3d const& dir);
 
  void Print() override;
};
 
} // namespace netdem