us.ihmc.scs2.definition.collision.CollisionShapeDefinition Maven / Gradle / Ivy

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package us.ihmc.scs2.definition.collision;

import java.util.Objects;

import javax.xml.bind.annotation.XmlElement;

import us.ihmc.euclid.tools.EuclidHashCodeTools;
import us.ihmc.euclid.transform.interfaces.RigidBodyTransformReadOnly;
import us.ihmc.scs2.definition.YawPitchRollTransformDefinition;
import us.ihmc.scs2.definition.geometry.GeometryDefinition;

public class CollisionShapeDefinition
{
   private String name;
   /** In parent after joint frame. */
   private YawPitchRollTransformDefinition originPose = new YawPitchRollTransformDefinition();
   private GeometryDefinition geometryDefinition;
   private boolean isConcave = false;

   /**
    * Collision identifier for this collidable. Use {@link CollidableHelper} to compute collision masks
    * and groups.
    */
   private long collisionMask = -1L;
   /**
    * Collision identifiers of other collidables that this collidable is allowed to collide with. Use
    * {@link CollidableHelper} to compute collision masks and groups.
    */
   private long collisionGroup = -1L;

   public CollisionShapeDefinition()
   {
   }

   public CollisionShapeDefinition(GeometryDefinition geometryDefinition)
   {
      this.geometryDefinition = geometryDefinition;
   }

   public CollisionShapeDefinition(RigidBodyTransformReadOnly originPose, GeometryDefinition geometryDefinition)
   {
      this(new YawPitchRollTransformDefinition(originPose), geometryDefinition);
   }

   public CollisionShapeDefinition(YawPitchRollTransformDefinition originPose, GeometryDefinition geometryDefinition)
   {
      this.originPose = originPose;
      this.geometryDefinition = geometryDefinition;
   }

   public CollisionShapeDefinition(CollisionShapeDefinition other)
   {
      name = other.name;
      originPose.set(other.originPose);
      if (other.geometryDefinition != null)
         geometryDefinition = other.geometryDefinition.copy();
   }

   @XmlElement
   public void setName(String name)
   {
      this.name = name;
   }

   public void setOriginPose(RigidBodyTransformReadOnly originPose)
   {
      this.originPose.set(originPose);
   }

   @XmlElement
   public void setOriginPose(YawPitchRollTransformDefinition originPose)
   {
      this.originPose = originPose;
   }

   @XmlElement
   public void setGeometryDefinition(GeometryDefinition geometryDefinition)
   {
      this.geometryDefinition = geometryDefinition;
   }

   @XmlElement
   public void setCollisionMask(long collisionMask)
   {
      this.collisionMask = collisionMask;
   }

   @XmlElement
   public void setCollisionGroup(long collisionGroup)
   {
      this.collisionGroup = collisionGroup;
   }

   public String getName()
   {
      return name;
   }

   public YawPitchRollTransformDefinition getOriginPose()
   {
      return originPose;
   }

   public GeometryDefinition getGeometryDefinition()
   {
      return geometryDefinition;
   }

   public void setConcave(boolean concave)
   {
      isConcave = concave;
   }

   public boolean isConcave()
   {
      return isConcave;
   }

   public long getCollisionMask()
   {
      return collisionMask;
   }

   public long getCollisionGroup()
   {
      return collisionGroup;
   }

   public CollisionShapeDefinition copy()
   {
      return new CollisionShapeDefinition(this);
   }

   @Override
   public int hashCode()
   {
      long bits = 1;
      bits = EuclidHashCodeTools.addToHashCode(bits, name);
      bits = EuclidHashCodeTools.addToHashCode(bits, originPose);
      bits = EuclidHashCodeTools.addToHashCode(bits, geometryDefinition);
      bits = EuclidHashCodeTools.addToHashCode(bits, isConcave);
      bits = EuclidHashCodeTools.addToHashCode(bits, collisionMask);
      bits = EuclidHashCodeTools.addToHashCode(bits, collisionGroup);
      return EuclidHashCodeTools.toIntHashCode(bits);
   }

   @Override
   public boolean equals(Object object)
   {
      if (object == this)
         return true;
      if (object == null)
         return false;
      if (getClass() != object.getClass())
         return false;

      CollisionShapeDefinition other = (CollisionShapeDefinition) object;

      if (!Objects.equals(name, other.name))
         return false;
      if (!Objects.equals(originPose, other.originPose))
         return false;
      if (!Objects.equals(geometryDefinition, other.geometryDefinition))
         return false;
      if (!isConcave != other.isConcave)
         return false;
      if (collisionMask != other.collisionMask)
         return false;
      if (collisionGroup != other.collisionGroup)
         return false;
      return true;
   }

   @Override
   public String toString()
   {
      return "CollisionShapeDefinition [name=" + name + ", originPose=" + originPose + ", geometryDefinition=" + geometryDefinition
             + ", isConcave=" + isConcave + ", collisionMask=" + collisionMask + ", collisionGroup=" + collisionGroup + "]";
   }
}