CCylinder.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>

namespace mrpt::opengl
{
class CCylinder;
/** A cylinder or cone whose base lies in the XY plane.
 * \sa opengl::COpenGLScene,opengl::CDisk
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CCylinder </td> <td> \image html
 * preview_CCylinder.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CCylinder : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CCylinder)
    DEFINE_SCHEMA_SERIALIZABLE()
   protected:
    /**
     * Cylinder's radii. If mBaseRadius==mTopRadius, then the object is an
     * actual cylinder. If both differ, it's a truncated cone. If one of the
     * radii is zero, the object is a cone.
     */
    float mBaseRadius{1}, mTopRadius{1};
    /**
     * Cylinder's height
     */
    float mHeight{1};
    /**
     * Implementation parameters on which depend the number of actually
     * rendered polygons.
     */
    uint32_t mSlices{10}, mStacks{10};
    /**
     * Boolean parameters about including the bases in the object. If both
     * mHasTopBase and mHasBottomBase are set to false, only the lateral area is
     * displayed.
     */
    bool mHasTopBase{true}, mHasBottomBase{true};

   public:
    /** Render
     * \sa mrpt::opengl::CRenderizable
     */
    void render_dl() const override;
    /**
     * Ray tracing.
     * \sa mrpt::opengl::CRenderizable
     */
    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
    /**
     * Configuration of the cylinder's bases display.
     */
    inline void setHasBases(bool top = true, bool bottom = true)
    {
        mHasTopBase = top;
        mHasBottomBase = bottom;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Check whether top base is displayed.
     * \sa hasBottomBase
     */
    inline bool hasTopBase() const { return mHasTopBase; }
    /**
     * Check whether bottom base is displayed.
     * \sa hasTopBase
     */
    inline bool hasBottomBase() const { return mHasBottomBase; }
    /**
     * Sets both radii to a single value, thus configuring the object as a
     * cylinder.
     * \sa setRadii
     */
    inline void setRadius(float radius)
    {
        mBaseRadius = mTopRadius = radius;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Sets both radii independently.
     * \sa setRadius
     */
    inline void setRadii(float bottom, float top)
    {
        mBaseRadius = bottom;
        mTopRadius = top;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Chenges cylinder's height.
     */
    inline void setHeight(float height)
    {
        mHeight = height;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Gets the bottom radius.
     */
    inline float getBottomRadius() const { return mBaseRadius; }
    /**
     * Gets the top radius.
     */
    inline float getTopRadius() const { return mTopRadius; }
    /**
     * Gets the cylinder's height.
     */
    inline float getHeight() const { return mHeight; }
    /**
     * Gets how many slices are used in the cylinder's lateral area and in its
     * bases.
     */
    inline void setSlicesCount(uint32_t slices)
    {
        mSlices = slices;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Gets how many stacks are used in the cylinder's lateral area.
     */
    inline void setStacksCount(uint32_t stacks)
    {
        mStacks = stacks;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Sets the amount of slices used to display the object.
     */
    inline uint32_t getSlicesCount() const { return mSlices; }
    /**
     * Sets the amount of stacks used to display the object.
     */
    inline uint32_t getStacksCount() const { return mStacks; }
    /** 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;
    /**
     * Basic empty constructor. Set all parameters to default.
     */
    CCylinder()

        = default;
    /**
     * Complete constructor. Allows the configuration of every parameter.
     */
    /** Constructor with two radii. Allows the construction of any cylinder. */
    CCylinder(
        const float baseRadius, const float topRadius, const float height = 1,
        const int slices = 10, const int stacks = 10)
        : mBaseRadius(baseRadius),
          mTopRadius(topRadius),
          mHeight(height),
          mSlices(slices),
          mStacks(stacks),
          mHasTopBase(true),
          mHasBottomBase(true){};
    /**
     * Destructor.
     */
    ~CCylinder() override = default;

   private:
    /**
     * Gets the radius of the circunference located at certain height,
     * returning false if the cylinder doesn't get that high.
     */
    inline bool getRadius(float Z, float& r) const
    {
        if (!reachesHeight(Z)) return false;
        r = (Z / mHeight) * (mTopRadius - mBaseRadius) + mBaseRadius;
        return true;
    }
    /**
     * Checks whether the cylinder exists at some height.
     */
    inline bool reachesHeight(float Z) const
    {
        return (mHeight < 0) ? (Z >= mHeight && Z <= 0)
                             : (Z <= mHeight && Z >= 0);
    }
};
}  // namespace mrpt::opengl