us.ihmc.scs2.definition.geometry.Torus3DDefinition Maven / Gradle / Ivy

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package us.ihmc.scs2.definition.geometry;

import us.ihmc.euclid.tools.EuclidCoreIOTools;
import us.ihmc.euclid.tools.EuclidCoreTools;
import us.ihmc.euclid.tools.EuclidHashCodeTools;

import javax.xml.bind.annotation.XmlElement;

/**
 * Definition for creating a 3D torus.
 * 
 * It is assumed that the torus' axis is aligned with the z-axis and its centroid at the origin.
 * 
 */
public class Torus3DDefinition extends GeometryDefinition
{
   private double majorRadius;
   private double minorRadius;
   private int resolution = 64;

   /**
    * Creates an empty definition. The parameters have to be all set before this definition can be
    * used.
    */
   public Torus3DDefinition()
   {
      setName("torus");
   }

   /**
    * Creates and initializes a definition for a 3D torus.
    *
    * @param majorRadius the radius from the torus centroid to the tube center.
    * @param minorRadius the radius of the tube.
    */
   public Torus3DDefinition(double majorRadius, double minorRadius)
   {
      this();
      this.majorRadius = majorRadius;
      this.minorRadius = minorRadius;
   }

   /**
    * Creates and initializes a definition for a partial 3D torus.
    *
    * @param majorRadius the radius from the torus centroid to the tube center.
    * @param minorRadius the radius of the tube.
    * @param resolution  used for discretizing the geometry.
    */
   public Torus3DDefinition(double majorRadius, double minorRadius, int resolution)
   {
      this();
      this.majorRadius = majorRadius;
      this.minorRadius = minorRadius;
      this.resolution = resolution;
   }

   public Torus3DDefinition(Torus3DDefinition other)
   {
      setName(other.getName());
      majorRadius = other.majorRadius;
      minorRadius = other.minorRadius;
      resolution = other.resolution;
   }

   /**
    * Sets the torus' major radius.
    *
    * @param majorRadius the radius from the torus centroid to the tube center.
    */
   @XmlElement
   public void setMajorRadius(double majorRadius)
   {
      this.majorRadius = majorRadius;
   }

   /**
    * Sets the torus' minor radius.
    *
    * @param minorRadius the radius of the tube.
    */
   @XmlElement
   public void setMinorRadius(double minorRadius)
   {
      this.minorRadius = minorRadius;
   }

   /**
    * Sets the torus' resolution used when discretizing it.
    *
    * @param resolution the torus' resolution.
    */
   @XmlElement
   public void setResolution(int resolution)
   {
      this.resolution = resolution;
   }

   /**
    * Returns the torus' major radius.
    *
    * @return the radius from the torus centroid to the tube center.
    */
   public double getMajorRadius()
   {
      return majorRadius;
   }

   /**
    * Returns the torus' minor radius.
    *
    * @return the radius of the tube.
    */
   public double getMinorRadius()
   {
      return minorRadius;
   }

   /**
    * Returns the torus' resolution which can be used for discretizing it.
    *
    * @return the torus' resolution.
    */
   public int getResolution()
   {
      return resolution;
   }

   @Override
   public Torus3DDefinition copy()
   {
      return new Torus3DDefinition(this);
   }

   @Override
   public int hashCode()
   {
      long bits = super.hashCode();
      bits = EuclidHashCodeTools.addToHashCode(bits, majorRadius);
      bits = EuclidHashCodeTools.addToHashCode(bits, minorRadius);
      bits = EuclidHashCodeTools.addToHashCode(bits, resolution);
      return EuclidHashCodeTools.toIntHashCode(bits);
   }

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

      Torus3DDefinition other = (Torus3DDefinition) object;

      if (!EuclidCoreTools.equals(majorRadius, other.majorRadius))
         return false;
      if (!EuclidCoreTools.equals(minorRadius, other.minorRadius))
         return false;
      if (resolution != other.resolution)
         return false;

      return true;
   }

   @Override
   public String toString()
   {
      return "Torus: [name: " + getName() + EuclidCoreIOTools.getStringOf(", radii: (", ")", ", ", majorRadius, minorRadius) + ", resolution: " + resolution
             + "]";
   }
}