30 #if MRPT_HAS_OPENGL_GLUT 35 GLUquadricObj*
obj = gluNewQuadric();
38 const float absHeight = std::abs(mHeight);
45 gluCylinder(
obj, mBaseRadius, mTopRadius, absHeight, mSlices, mStacks);
49 if (mHasBottomBase) gluDisk(
obj, 0, mBaseRadius, mSlices, 1);
50 if (mHasTopBase && mTopRadius > 0)
54 gluDisk(
obj, 0, mTopRadius, mSlices, 1);
57 gluDeleteQuadric(
obj);
66 writeToStreamRender(out);
68 out << mBaseRadius << mTopRadius << mHeight << mSlices << mStacks
69 << mHasBottomBase << mHasTopBase;
77 readFromStreamRender(
in);
78 in >> mBaseRadius >> mTopRadius >> mHeight >> mSlices >> mStacks >>
79 mHasBottomBase >> mHasTopBase;
100 return (
t = -
b /
a) >= 0;
106 t = (-
b - delta) /
a;
109 else if (-
b + delta > 0)
111 t = (-
b + delta) /
a;
132 if (!reachesHeight(lin.
pBase.
z))
return false;
134 return getRadius(static_cast<float>(lin.
pBase.
z),
r)
150 if (nDist <= mBaseRadius)
159 if (tZ0 > 0 && (!fnd || tZ0 < dist))
164 if (nDist <= mTopRadius)
171 if (mBaseRadius == mTopRadius)
178 if ((!fnd || nDist < dist) &&
187 double slope = (mTopRadius - mBaseRadius) / mHeight;
192 (mBaseRadius + slope * lin.
pBase.
z) * slope *
197 if ((!fnd || nDist < dist) &&
210 bb_min.
x = -std::max(mBaseRadius, mTopRadius);
214 bb_max.
x = std::max(mBaseRadius, mTopRadius);
219 m_pose.composePoint(bb_min, bb_min);
220 m_pose.composePoint(bb_max, bb_max);
GLAPI void GLAPIENTRY glEnable(GLenum cap)
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
GLAPI void GLAPIENTRY glPopMatrix(void)
TPoint3D pBase
Base point.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
#define GL_ONE_MINUS_SRC_ALPHA
GLsizei GLsizei GLuint * obj
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
GLAPI void GLAPIENTRY glBlendFunc(GLenum sfactor, GLenum dfactor)
A renderizable object suitable for rendering with OpenGL's display lists.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
T square(const T x)
Inline function for the square of a number.
This base provides a set of functions for maths stuff.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
A cylinder or cone whose base lies in the XY plane.
double x
X,Y,Z coordinates.
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
void unitarize()
Unitarize director vector.
double director[3]
Director vector.
GLAPI void GLAPIENTRY glTranslatef(GLfloat x, GLfloat y, GLfloat z)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
GLdouble GLdouble GLdouble r
void createFromPoseX(const mrpt::math::TPose3D &p, TLine3D &r)
Gets a 3D line corresponding to the X axis in a given pose.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const override
Ray tracing.
bool solveEqn(double a, double b, double c, double &t)
double getEpsilon()
Gets the value of the geometric epsilon (default = 1e-5)
void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
The namespace for 3D scene representation and rendering.
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
GLAPI void GLAPIENTRY glPushMatrix(void)
GLAPI void GLAPIENTRY glDisable(GLenum cap)
GLubyte GLubyte GLubyte a
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
3D line, represented by a base point and a director vector.