CSphere.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
{
/** A solid or wire-frame sphere.
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CSphere </td> <td> \image html preview_CSphere.png
 * </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CSphere : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CSphere)

   protected:
    float m_radius;
    int m_nDivsLongitude, m_nDivsLatitude;
    bool m_keepRadiusIndependentEyeDistance{false};

   public:
    void setRadius(float r)
    {
        m_radius = r;
        CRenderizableDisplayList::notifyChange();
    }
    float getRadius() const { return m_radius; }
    void setNumberDivsLongitude(int N)
    {
        m_nDivsLongitude = N;
        CRenderizableDisplayList::notifyChange();
    }
    void setNumberDivsLatitude(int N)
    {
        m_nDivsLatitude = N;
        CRenderizableDisplayList::notifyChange();
    }
    void enableRadiusIndependentOfEyeDistance(bool v = true)
    {
        m_keepRadiusIndependentEyeDistance = v;
        CRenderizableDisplayList::notifyChange();
    }

    /** \sa CRenderizableDisplayList */
    bool should_skip_display_list_cache() const override
    {
        return m_keepRadiusIndependentEyeDistance;
    }

    /** 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;

    /** Ray tracing
     */
    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

    /** Constructor
     */
    CSphere(
        float radius = 1.0f, int nDivsLongitude = 20, int nDivsLatitude = 20)
        : m_radius(radius),
          m_nDivsLongitude(nDivsLongitude),
          m_nDivsLatitude(nDivsLatitude)

    {
    }

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

}  // namespace mrpt::opengl