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
{
namespace 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() {}
};
 
}  // end namespace
 
}  // End of namespace
 
#endif