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CSphere.h
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1/* +---------------------------------------------------------------------------+
2 | Mobile Robot Programming Toolkit (MRPT) |
3 | http://www.mrpt.org/ |
4 | |
5 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
6 | See: http://www.mrpt.org/Authors - All rights reserved. |
7 | Released under BSD License. See details in http://www.mrpt.org/License |
8 +---------------------------------------------------------------------------+ */
9#ifndef opengl_CSphere_H
10#define opengl_CSphere_H
11
13
14namespace mrpt
15{
16 namespace opengl
17 {
18
19
20 // This must be added to any CSerializable derived class:
22
23 /** A solid or wire-frame sphere.
24 * \sa opengl::COpenGLScene
25 *
26 * <div align="center">
27 * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
28 * <tr> <td> mrpt::opengl::CSphere </td> <td> \image html preview_CSphere.png </td> </tr>
29 * </table>
30 * </div>
31 *
32 * \ingroup mrpt_opengl_grp
33 */
35 {
37
38 protected:
39 float m_radius;
40 int m_nDivsLongitude,m_nDivsLatitude;
42
43 public:
44 void setRadius(float r) { m_radius=r; CRenderizableDisplayList::notifyChange(); }
45 float getRadius() const {return m_radius; }
46
49 void enableRadiusIndependentOfEyeDistance(bool v=true) { m_keepRadiusIndependentEyeDistance=v; CRenderizableDisplayList::notifyChange(); }
50
51 /** \sa CRenderizableDisplayList */
52 bool should_skip_display_list_cache() const MRPT_OVERRIDE { return m_keepRadiusIndependentEyeDistance; }
53
54 /** Class factory */
55 static CSpherePtr Create(
56 float radius,
57 int nDivsLongitude = 20,
58 int nDivsLatitude = 20 );
59
60 /** Render */
62
63 /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
64 void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
65
66 /** Ray tracing
67 */
68 bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
69
70 private:
71 /** Constructor
72 */
74 float radius = 1.0f,
75 int nDivsLongitude = 20,
76 int nDivsLatitude = 20
77 ) :
78 m_radius(radius),
79 m_nDivsLongitude(nDivsLongitude),
80 m_nDivsLatitude(nDivsLatitude),
81 m_keepRadiusIndependentEyeDistance(false)
82 {
83 }
84
85 /** Private, virtual destructor: only can be deleted from smart pointers */
86 virtual ~CSphere() { }
87 };
88 DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSphere, CRenderizableDisplayList, OPENGL_IMPEXP )
89
90 } // end namespace
91
92} // End of namespace
93
94#endif
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
A renderizable object suitable for rendering with OpenGL's display lists.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated)
A solid or wire-frame sphere.
Definition: CSphere.h:35
void render_dl() const MRPT_OVERRIDE
Render.
float getRadius() const
Definition: CSphere.h:45
void setNumberDivsLongitude(int N)
Definition: CSphere.h:47
static CSpherePtr Create(float radius, int nDivsLongitude=20, int nDivsLatitude=20)
Class factory
bool should_skip_display_list_cache() const MRPT_OVERRIDE
Definition: CSphere.h:52
virtual ~CSphere()
Private, virtual destructor: only can be deleted from smart pointers.
Definition: CSphere.h:86
void setNumberDivsLatitude(int N)
Definition: CSphere.h:48
void enableRadiusIndependentOfEyeDistance(bool v=true)
Definition: CSphere.h:49
void setRadius(float r)
Definition: CSphere.h:44
bool m_keepRadiusIndependentEyeDistance
Definition: CSphere.h:41
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
Definition: mrpt_macros.h:28
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.



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