CDisk.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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_CDisk_H
#define opengl_CDisk_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/math/geometry.h>

namespace mrpt::opengl
{
/** A planar disk in the XY plane.
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CDisk </td> <td> \image html preview_CDisk.png
 * </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CDisk : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CDisk)

   protected:
    float m_radiusIn, m_radiusOut;
    uint32_t m_nSlices, m_nLoops;

   public:
    void setDiskRadius(float outRadius, float inRadius = 0)
    {
        m_radiusIn = inRadius;
        m_radiusOut = outRadius;
        CRenderizableDisplayList::notifyChange();
    }

    float getInRadius() const { return m_radiusIn; }
    float getOutRadius() const { return m_radiusOut; }
    /** Default=50 */
    void setSlicesCount(uint32_t N)
    {
        m_nSlices = N;
        CRenderizableDisplayList::notifyChange();
    }
    /** Default=4 */
    void setLoopsCount(uint32_t N)
    {
        m_nLoops = N;
        CRenderizableDisplayList::notifyChange();
    }

    /** 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
      */
    CDisk() : m_radiusIn(0), m_radiusOut(1), m_nSlices(50), m_nLoops(4) {}
    CDisk(float rOut, float rIn, uint32_t slices = 50, uint32_t loops = 4)
        : m_radiusIn(rIn), m_radiusOut(rOut), m_nSlices(slices), m_nLoops(loops)
    {
    }

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

}
#endif