CArrow.h

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/* +------------------------------------------------------------------------+
   |                     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_CArrow_H
#define opengl_CArrow_H
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
 
namespace mrpt
{
namespace opengl
{
/** A 3D arrow
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CArrow </td> <td> \image html preview_CArrow.png
 * </td> </tr>
  *  </table>
  *  </div>
  * \ingroup mrpt_opengl_grp
  *
  */
class CArrow : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CArrow)
   protected:
        mutable float m_x0, m_y0, m_z0;
        mutable float m_x1, m_y1, m_z1;
        float m_headRatio;
        float m_smallRadius, m_largeRadius;
        // For version 2 in stream
        float m_arrow_roll;
        float m_arrow_pitch;
        float m_arrow_yaw;
 
   public:
        void setArrowEnds(
                float x0, float y0, float z0, float x1, float y1, float z1)
        {
                m_x0 = x0;
                m_y0 = y0;
                m_z0 = z0;
                m_x1 = x1;
                m_y1 = y1;
                m_z1 = z1;
                CRenderizableDisplayList::notifyChange();
        }
        void setHeadRatio(float rat)
        {
                m_headRatio = rat;
                CRenderizableDisplayList::notifyChange();
        }
        void setSmallRadius(float rat)
        {
                m_smallRadius = rat;
                CRenderizableDisplayList::notifyChange();
        }
        void setLargeRadius(float rat)
        {
                m_largeRadius = rat;
                CRenderizableDisplayList::notifyChange();
        }
        void setArrowYawPitchRoll(float yaw, float pitch, float roll)
        {
                m_arrow_yaw = yaw;
                m_arrow_pitch = pitch;
                m_arrow_roll = roll;
                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;
 
        /** Class factory  */
        static CArrow::Ptr Create(
                float x0, float y0, float z0, float x1, float y1, float z1,
                float headRatio = 0.2f, float smallRadius = 0.05f,
                float largeRadius = 0.2f, float arrow_roll = -1.0f,
                float arrow_pitch = -1.0f, float arrow_yaw = -1.0f);
 
        /** Constructor
          */
        CArrow(
                float x0 = 0, float y0 = 0, float z0 = 0, float x1 = 1, float y1 = 1,
                float z1 = 1, float headRatio = 0.2f, float smallRadius = 0.05f,
                float largeRadius = 0.2f, float arrow_roll = -1.0f,
                float arrow_pitch = -1.0f, float arrow_yaw = -1.0f)
                : m_x0(x0),
                  m_y0(y0),
                  m_z0(z0),
                  m_x1(x1),
                  m_y1(y1),
                  m_z1(z1),
                  m_headRatio(headRatio),
                  m_smallRadius(smallRadius),
                  m_largeRadius(largeRadius),
                  m_arrow_roll(arrow_roll),
                  m_arrow_pitch(arrow_pitch),
                  m_arrow_yaw(arrow_yaw)
        {
        }
 
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CArrow() {}
};
 
}  // end namespace
}  // End of namespace
 
#endif