CSphere.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/CGeneralizedEllipsoidTemplate.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 CGeneralizedEllipsoidTemplate<3>
{
    using BASE = CGeneralizedEllipsoidTemplate<3>;
    DEFINE_SERIALIZABLE(CSphere, mrpt::opengl)

   public:
    void renderUpdateBuffers() const override;

    void setRadius(float r)
    {
        m_radius = r;
        CRenderizable::notifyChange();
    }
    float getRadius() const { return m_radius; }
    void setNumberDivsLongitude(int N)
    {
        m_nDivsLongitude = N;
        BASE::setNumberOfSegments(m_nDivsLongitude);
    }
    void setNumberDivsLatitude(int N)
    {
        m_nDivsLatitude = N;
        CRenderizable::notifyChange();
    }

    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
    virtual void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;

    /** Constructor */
    CSphere(
        float radius = 1.0f, int nDivsLongitude = 20, int nDivsLatitude = 20)
        : m_radius(radius),
          m_nDivsLongitude(nDivsLongitude),
          m_nDivsLatitude(nDivsLatitude)
    {
        regenerateBaseParams();
        BASE::enableDrawSolid3D(true);  // default
    }

    virtual ~CSphere() override = default;

   protected:
    float m_radius;
    int m_nDivsLongitude, m_nDivsLatitude;

    void regenerateBaseParams()
    {
        BASE::setCovMatrix(mrpt::math::CMatrixDouble33::Identity());
        BASE::setQuantiles(m_radius);
        BASE::setNumberOfSegments(m_nDivsLongitude);
    }

    void transformFromParameterSpace(
        const std::vector<BASE::array_parameter_t>& in_pts,
        std::vector<BASE::array_point_t>& out_pts) const override
    {
        out_pts = in_pts;
    }
};

}  // namespace mrpt::opengl