CCamera.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_CCamera_H
#define opengl_CCamera_H
 
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/CPoseOrPoint.h>
 
namespace mrpt
{
namespace opengl
{
class COpenGLViewport;
class CCamera;
 
/** A camera: if added to a scene, the viewpoint defined by this camera will be
 * used instead of the camera parameters set in COpenGLViewport::m_camera.
  *  A camera can be defined to provide a projective or orthogonal view of the
 * world by setting the member CCamera::m_projectiveModel.
  *  \sa opengl::COpenGLScene
  * \ingroup mrpt_opengl_grp
  */
class CCamera : public CRenderizable
{
        friend class COpenGLViewport;
 
        DEFINE_SERIALIZABLE(CCamera)
   protected:
        float m_pointingX, m_pointingY, m_pointingZ;
        float m_distanceZoom;
        float m_azimuthDeg, m_elevationDeg;
 
        /** If set to true (default), camera model is projective, otherwise, it's
         * orthogonal. */
        bool m_projectiveModel;
        /** Field-of-View in degs, only when projectiveModel=true (default=30 deg).
         */
        float m_projectiveFOVdeg;
        /** If set to true, camera pose is used when rendering the viewport */
        bool m_6DOFMode;
 
   public:
        void setPointingAt(float x, float y, float z)
        {
                m_pointingX = x;
                m_pointingY = y;
                m_pointingZ = z;
        }
 
        template <class POSEORPOINT>
        void setPointingAt(const POSEORPOINT& p)
        {
                m_pointingX = p.x();
                m_pointingY = p.y();
                m_pointingZ = p.is3DPoseOrPoint() ? p.m_coords[2] : 0;
        }
        inline void setPointingAt(const mrpt::math::TPoint3D& p)
        {
                setPointingAt(p.x, p.y, p.z);
        }
 
        float getPointingAtX() const { return m_pointingX; }
        float getPointingAtY() const { return m_pointingY; }
        float getPointingAtZ() const { return m_pointingZ; }
        void setZoomDistance(float z) { m_distanceZoom = z; }
        float getZoomDistance() const { return m_distanceZoom; }
        float getAzimuthDegrees() const { return m_azimuthDeg; }
        float getElevationDegrees() const { return m_elevationDeg; }
        void setAzimuthDegrees(float ang) { m_azimuthDeg = ang; }
        void setElevationDegrees(float ang) { m_elevationDeg = ang; }
        /** Enable/Disable projective mode (vs. orthogonal) */
        void setProjectiveModel(bool v = true) { m_projectiveModel = v; }
        /** Enable/Disable orthogonal mode (vs. projective) */
        void setOrthogonal(bool v = true) { m_projectiveModel = !v; }
        /** Set 6DOFMode, if enabled camera is set according to its pose
         *(default=false).
         *  Conventionally, eye is set looking towards the positive direction of Z
         *axis.
         *  Up is set as the Y axis.
         *  In this mode azimuth/elevation are ignored.
         **/
        void set6DOFMode(bool v) { m_6DOFMode = v; }
        bool isProjective() const { return m_projectiveModel; }
        bool isOrthogonal() const { return !m_projectiveModel; }
        bool is6DOFMode() const { return m_6DOFMode; }
        /** Field-of-View in degs, only when projectiveModel=true (default=30 deg).
         */
        void setProjectiveFOVdeg(float ang) { m_projectiveFOVdeg = ang; }
        /** Field-of-View in degs, only when projectiveModel=true (default=30 deg).
         */
        float getProjectiveFOVdeg() const { return m_projectiveFOVdeg; }
        /** Render does nothing here. */
        void render() const override {}
        /** In this class, returns a fixed box (max,max,max), (-max,-max,-max). */
        virtual void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;
 
        /** Constructor
          */
        CCamera();
 
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CCamera() {}
};
 
}  // end namespace opengl
 
}  // End of namespace
 
#endif