CBox.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_CBox_H
#define opengl_CBox_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/lightweight_geom_data.h>

namespace mrpt
{
namespace opengl
{
/** A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to
  *the planes X, Y and Z (note that the object can be translated and rotated
  *afterwards as any other CRenderizable object using the "object pose" in the
  *base class).
  *  Three drawing modes are possible:
  *     - Wireframe: setWireframe(true). Used color is the CRenderizable color
  *     - Solid box: setWireframe(false). Used color is the CRenderizable color
  *     - Solid box with border: setWireframe(false) + enableBoxBorder(true). Solid
  *color is the CRenderizable color, border line can be set with
  *setBoxBorderColor().
  *
  * \sa opengl::COpenGLScene,opengl::CRenderizable
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
  *border-style: solid;">
  *   <tr> <td> mrpt::opengl::CBox </td> <td> \image html preview_CBox.png </td>
  *</tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CBox : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CBox)

   protected:
        /** Corners coordinates */
        mrpt::math::TPoint3D m_corner_min, m_corner_max;
        /** true: wireframe, false: solid */
        bool m_wireframe;
        /** For wireframe only. */
        float m_lineWidth;
        /** Draw line borders to solid box with the given linewidth (default: true)
         */
        bool m_draw_border;
        /** Color of the solid box borders. */
        mrpt::utils::TColor m_solidborder_color;

   public:
        /** Constructor returning a smart pointer to the newly created object. */
        static CBox::Ptr Create(
                const mrpt::math::TPoint3D& corner1,
                const mrpt::math::TPoint3D& corner2, bool is_wireframe = false,
                float lineWidth = 1.0);

        /** Render
          * \sa mrpt::opengl::CRenderizable
          */
        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.
          * \sa mrpt::opengl::CRenderizable
          */
        bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

        inline void setLineWidth(float width)
        {
                m_lineWidth = width;
                CRenderizableDisplayList::notifyChange();
        }
        inline float getLineWidth() const { return m_lineWidth; }
        inline void setWireframe(bool is_wireframe = true)
        {
                m_wireframe = is_wireframe;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool isWireframe() const { return m_wireframe; }
        inline void enableBoxBorder(bool drawBorder = true)
        {
                m_draw_border = drawBorder;
                CRenderizableDisplayList::notifyChange();
        }
        inline bool isBoxBorderEnabled() const { return m_draw_border; }
        inline void setBoxBorderColor(const mrpt::utils::TColor& c)
        {
                m_solidborder_color = c;
                CRenderizableDisplayList::notifyChange();
        }
        inline mrpt::utils::TColor getBoxBorderColor() const
        {
                return m_solidborder_color;
        }

        /** Set the position and size of the box, from two corners in 3D */
        void setBoxCorners(
                const mrpt::math::TPoint3D& corner1,
                const mrpt::math::TPoint3D& corner2);
        void getBoxCorners(
                mrpt::math::TPoint3D& corner1, mrpt::math::TPoint3D& corner2) const
        {
                corner1 = m_corner_min;
                corner2 = m_corner_max;
        }

        /** Basic empty constructor. Set all parameters to default. */
        CBox();

        /** Constructor with all the parameters  */
        CBox(
                const mrpt::math::TPoint3D& corner1,
                const mrpt::math::TPoint3D& corner2, bool is_wireframe = false,
                float lineWidth = 1.0);

        /** Destructor  */
        virtual ~CBox() {}
   private:
};
}
}
#endif