CAxis.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <array>

namespace mrpt::opengl
{
/** Draw a 3D world axis, with coordinate marks at some regular interval
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *  <tr> <td> mrpt::opengl::CAxis </td> <td> \image html preview_CAxis.png
 * </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CAxis : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CAxis)
   protected:
    float m_xmin, m_ymin, m_zmin;
    float m_xmax, m_ymax, m_zmax;
    float m_frequency;
    float m_lineWidth;
    /** draw marks for X,Y,Z */
    std::array<bool, 3> m_marks;
    float m_textScale{0.25f};
    float m_textRot[3][3];  // {x,y,z},{yaw,pitch,roll}
    float m_markLen{0.07f};

   public:
    void setAxisLimits(
        float xmin, float ymin, float zmin, float xmax, float ymax, float zmax);
    /** Changes the frequency of the "ticks" */
    void setFrequency(float f);
    float getFrequency() const;
    void setLineWidth(float w);
    float getLineWidth() const;
    /** Changes the size of text labels (default:0.25) */
    void setTextScale(float f);
    float getTextScale() const;
    /** axis: {0,1,2}=>{X,Y,Z} */
    void setTextLabelOrientation(
        int axis, float yaw_deg, float pitch_deg, float roll_deg);
    /** axis: {0,1,2}=>{X,Y,Z} */
    void getTextLabelOrientation(
        int axis, float& yaw_deg, float& pitch_deg, float& roll_deg) const;

    void enableTickMarks(bool v = true);
    void enableTickMarks(bool show_x, bool show_y, bool show_z);
    /** As a ratio of "marks frequency" (default: 0.05) */
    void setTickMarksLength(float len);
    float getTickMarksLength(float len) { return m_markLen; }

    /** Render */
    void render_dl() const override;

    /** Evaluates the bounding box of this object (including possible children)
     * in the coordinate frame of the object parent. */
    void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;

    /** Constructor */
    CAxis(
        float xmin = -1.0f, float ymin = -1.0f, float zmin = -1.0f,
        float xmax = 1.0f, float ymax = 1.0f, float zmax = 1.0f,
        float frecuency = 1.f, float lineWidth = 3.0f, bool marks = false);

    /** Private, virtual destructor: only can be deleted from smart pointers */
    ~CAxis() override = default;
};

}  // namespace mrpt::opengl