ENH: Implement base for CollidingObject

Base/Scene/Object/imstkCollidingObject.cpp

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+   =========================================================================*/
+
+#include "imstkCollidingObject.h"
+
+namespace imstk {
+std::shared_ptr<Geometry>
+CollidingObject::getCollidingGeometry() const
+{
+    return m_collidingGeometry;
+}
+
+void
+CollidingObject::setCollidingGeometry(std::shared_ptr<Geometry> geometry)
+{
+    m_collidingGeometry = geometry;
+}
+}

Base/Scene/Object/imstkCollidingObject.h

+/*=========================================================================
+
+   Library: iMSTK
+
+   Copyright (c) Kitware, Inc. & Center for Modeling, Simulation,
+   & Imaging in Medicine, Rensselaer Polytechnic Institute.
+
+   Licensed under the Apache License, Version 2.0 (the "License");
+   you may not use this file except in compliance with the License.
+   You may obtain a copy of the License at
+
+      http://www.apache.org/licenses/LICENSE-2.0.txt
+
+   Unless required by applicable law or agreed to in writing, software
+   distributed under the License is distributed on an "AS IS" BASIS,
+   WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+   See the License for the specific language governing permissions and
+   limitations under the License.
+
+   =========================================================================*/
+
+#ifndef imstkCollidingObject_h
+#define imstkCollidingObject_h
+
+#include <memory>
+
+#include "imstkSceneObject.h"
+
+namespace imstk {
+
+class Geometry;
+class GeometryMap;
+
+class CollidingObject : public SceneObject
+{
+public:
+
+    CollidingObject(std::string name) : SceneObject(name)
+    {
+        m_type = Type::Static;
+    }
+
+    ~CollidingObject() = default;
+
+    std::shared_ptr<Geometry> getCollidingGeometry() const;
+    void setCollidingGeometry(std::shared_ptr<Geometry> geometry);
+
+protected:
+
+    std::shared_ptr<Geometry> m_collidingGeometry;       ///> Geometry for collisions
+    std::shared_ptr<GeometryMap> m_collidingToVisualMap; ///> Maps transformations to visual geometry
+
+};
+
+using StaticObject = CollidingObject;
+}
+
+#endif // ifndef imstkCollidingObject_h

Base/Scene/Object/imstkSceneObject.cpp

@@ -21,6 +21,8 @@
 
 #include "imstkSceneObject.h"
 
+#include "imstkGeometry.h"
+
 namespace imstk {
 std::shared_ptr<Geometry>
 SceneObject::getVisualGeometry() const
@@ -29,17 +31,23 @@ SceneObject::getVisualGeometry() const
 }
 
 void
-SceneObject::setVisualGeometry(std::shared_ptr<Geometry>geometry)
+SceneObject::setVisualGeometry(std::shared_ptr<Geometry> geometry)
 {
     m_visualGeometry = geometry;
 }
 
-const SceneObjectType&
+const SceneObject::Type&
 SceneObject::getType() const
 {
     return m_type;
 }
 
+void
+SceneObject::setType(Type type)
+{
+    m_type = type;
+}
+
 const std::string&
 SceneObject::getName() const
 {

Base/Scene/Object/imstkSceneObject.h

@@ -24,38 +24,41 @@
 
 #include <memory>
 
-#include "imstkGeometry.h"
-
 namespace imstk {
-enum class SceneObjectType
-{
-    Visual,
-    Static,
-    VirtualCoupled,
-    Rigid,
-    Deformable
-};
+
+class Geometry;
 
 class SceneObject
 {
 public:
 
+    enum class Type
+    {
+        Visual,
+        Static,
+        VirtualCoupled,
+        Rigid,
+        Deformable
+    };
+
     SceneObject(std::string name) : m_name(name) {}
 
     ~SceneObject() = default;
 
-    const SceneObjectType  & getType() const;
+    const Type& getType() const;
 
-    const std::string      & getName() const;
-    void                     setName(std::string name);
+    const std::string& getName() const;
+    void setName(std::string name);
 
-    std::shared_ptr<Geometry>getVisualGeometry() const;
-    void                     setVisualGeometry(std::shared_ptr<Geometry>geometry);
+    std::shared_ptr<Geometry> getVisualGeometry() const;
+    void setVisualGeometry(std::shared_ptr<Geometry> geometry);
 
 protected:
 
-    SceneObjectType m_type = SceneObjectType::Visual;
-    std::string     m_name;
+    void setType(Type type);
+
+    Type m_type = Type::Visual;
+    std::string m_name;
     std::shared_ptr<Geometry> m_visualGeometry; ///> Geometry for rendering
 };