CSphere.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
#ifndef opengl_CSphere_H
#define opengl_CSphere_H

#include <mrpt/opengl/CRenderizableDisplayList.h>

namespace mrpt
{
namespace 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;

   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;
        }

        /** Class factory  */
        static CSphere::Ptr Create(
                float radius, int nDivsLongitude = 20, int nDivsLatitude = 20);

        /** 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),
                  m_keepRadiusIndependentEyeDistance(false)
        {
        }

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

}  // end namespace

}  // End of namespace

#endif