CSphere.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_CSphere_H
#define opengl_CSphere_H
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
 
namespace mrpt::opengl
{
/** A solid or wire-frame sphere.
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CSphere </td> <td> \image html preview_CSphere.png
 * </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CSphere : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CSphere)
 
   protected:
    float m_radius;
    int m_nDivsLongitude, m_nDivsLatitude;
    bool m_keepRadiusIndependentEyeDistance;
 
   public:
    void setRadius(float r)
    {
        m_radius = r;
        CRenderizableDisplayList::notifyChange();
    }
    float getRadius() const { return m_radius; }
    void setNumberDivsLongitude(int N)
    {
        m_nDivsLongitude = N;
        CRenderizableDisplayList::notifyChange();
    }
    void setNumberDivsLatitude(int N)
    {
        m_nDivsLatitude = N;
        CRenderizableDisplayList::notifyChange();
    }
    void enableRadiusIndependentOfEyeDistance(bool v = true)
    {
        m_keepRadiusIndependentEyeDistance = v;
        CRenderizableDisplayList::notifyChange();
    }
 
    /** \sa CRenderizableDisplayList */
    bool should_skip_display_list_cache() const override
    {
        return m_keepRadiusIndependentEyeDistance;
    }
 
    /** Class factory  */
    static CSphere::Ptr Create(
        float radius, int nDivsLongitude = 20, int nDivsLatitude = 20);
 
    /** 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
      */
    CSphere(
        float radius = 1.0f, int nDivsLongitude = 20, int nDivsLatitude = 20)
        : m_radius(radius),
          m_nDivsLongitude(nDivsLongitude),
          m_nDivsLatitude(nDivsLatitude),
          m_keepRadiusIndependentEyeDistance(false)
    {
    }
 
    /** Private, virtual destructor: only can be deleted from smart pointers */
    virtual ~CSphere() {}
};
 
}
#endif