/Users/mourrain/Devel/mmx/shape/include/shape/shape.hpp

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/*****************************************************************************
 * M a t h e m a g i x
 *****************************************************************************
 * shape
 * 2008-03-21
 * Julien Wintz && Bernard Mourrain
 *****************************************************************************
 *               Copyright (C) 2006 INRIA Sophia-Antipolis
 *****************************************************************************
 * Comments :
 ****************************************************************************/
# ifndef shape_shape_hpp
# define shape_shape_hpp
# define TMPL template<class K>
# define SELF geometric<K>
//====================================================================
namespace mmx {


# define TMPL_TYPE(NAME, X) typename NAME<X>::T
# define TYPE(NAME, X) NAME<X>::T

# define WITH(N0, K1, N2) typedef typename use<N0##_def,K1>::N2 N2

//====================================================================
namespace shape {
//====================================================================
  struct default_env {};

  template<class A, class B= default_env> struct use;

  struct ref_def {};

  template<> struct use<ref_def>        { typedef default_env Ref; };
  template<> struct use<ref_def,double> { typedef default_env Ref; };

# define REF_OF(N0) typename use<ref_def,N0>::Ref
# define DECLARE_REF_OF(V0,R1) struct use<ref_def,V0 > {typedef R1 Ref; };

//--------------------------------------------------------------------
  
  template<class A, class B> struct join2 {};

//--------------------------------------------------------------------
  struct scalar_def {};

  template<> struct use<scalar_def>        { typedef double Scalar; };
//--------------------------------------------------------------------

TMPL struct geometric;

struct shape_def {};
template<> struct use<shape_def> { 
  typedef geometric<default_env> Shape; 
};

# define SHAPE_OF(V) use<shape_def,V>::Shape

//geometric<REF_OF(V)>

//--------------------------------------------------------------------
TMPL class geometric {
public:
  geometric(void) {
    m_x = m_y = m_z = 0.0 ;
    m_q0 = m_q1 = m_q2 = m_q3 = 0.0 ;
  }
  
  virtual ~geometric(void) {} ;

  bool position(double * x, double * y, double * z) ;
  bool orientation(double * q0, double * q1, double * q2, double * q3) ; 

protected:
    double m_x, m_y, m_z ;
    double m_q0, m_q1, m_q2, m_q3 ;
} ;

TMPL bool 
SELF::position(double * x, double * y, double * z) {
  *x = this->m_x ;
  *y = this->m_y ;
  *z = this->m_z ;
  return true ;
}

TMPL bool 
SELF::orientation(double * q0, double * q1, double * q2, double * q3) {
  *q0 = this->m_q0 ;
  *q1 = this->m_q1 ;
  *q2 = this->m_q2 ;
  *q3 = this->m_q3 ;
  return true ;
}

//--------------------------------------------------------------------
TMPL struct process {};

# define PROCESS_OF(V) process<V>

//====================================================================
} ; // namespace shape
} ; // namespace mmx
//====================================================================
# undef TMPL
# undef SELF
# endif // shape_shape_hpp