CFrustum.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_CFrustum_H
#define opengl_CFrustum_H

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

namespace mrpt  {
namespace opengl        {

        // This must be added to any CSerializable derived class:
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CFrustum,CRenderizableDisplayList, OPENGL_IMPEXP)

        /** A solid or wireframe frustum in 3D (a rectangular truncated pyramid), with arbitrary (possibly assymetric) field-of-view angles.
          *
          *  You can switch whether to show only the lines, the surface of the frustum, or both.
          *  By default only the lines are drawn.
          *
          *  The color of the object (via CRenderizable::setColor()) affects the color of lines.
          *  To set the color of planes use \a setPlaneColor()
          *
          *  As usual in MRPT, the +X axis is assumed to by the main direction, in this case of the pyramid axis.
          *
          *  The horizontal and vertical FOVs can be set directly with \a setHorzFOV() and \a setVertFOV() if
          *  they are symmetric, or with \a setHorzFOVAsymmetric() and \a setVertFOVAsymmetric() otherwise.
          *
          *  All FOV angles are positive numbers. FOVs must be below 90deg on each side (below 180deg in total).
          *  If you try to set FOVs to larger values they'll truncated to 89.9deg.
          *
          * \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::CFrustum </td> <td> \image html preview_CFrustum.png </td> </tr>
          *  </table>
          *  </div>
          *
          * \ingroup mrpt_opengl_grp
          */
        class OPENGL_IMPEXP CFrustum :public CRenderizableDisplayList
        {
                DEFINE_SERIALIZABLE(CFrustum)

        protected:
                float  m_min_distance, m_max_distance;    //!< Near and far planes
                float  m_fov_horz_left,m_fov_horz_right;  //!< Semi FOVs (in radians)
                float  m_fov_vert_down,m_fov_vert_up;     //!< Semi FOVs (in radians)
                bool   m_draw_lines, m_draw_planes;
                float  m_lineWidth;
                mrpt::utils::TColor  m_planes_color;

        public:
                /** Constructor returning a smart pointer to the newly created object. */
                static CFrustumPtr Create(float near_distance, float far_distance, float horz_FOV_degrees, float vert_FOV_degrees, float lineWidth = 1.5f, bool draw_lines = true, bool draw_planes = false );

                inline void setLineWidth(float width) { m_lineWidth = width; CRenderizableDisplayList::notifyChange(); }
                inline float getLineWidth() const { return m_lineWidth; }

                /** Changes the color of the planes; to change color of lines, use CRenderizable base methods. */
                inline void setPlaneColor(const mrpt::utils::TColor &c) { m_planes_color=c; CRenderizableDisplayList::notifyChange(); }
                inline const mrpt::utils::TColor &getPlaneColor() const { return m_planes_color; }

                /** Changes distance of near & far planes */
                void setNearFarPlanes(const float near_distance, const float far_distance);

                float getNearPlaneDistance() const { return m_min_distance; }
                float getFarPlaneDistance() const { return m_max_distance; }

                /** Changes horizontal FOV (symmetric) */
                void setHorzFOV(const float fov_horz_degrees);
                /** Changes vertical FOV (symmetric) */
                void setVertFOV(const float fov_vert_degrees);
                /** Changes horizontal FOV (asymmetric) */
                void setHorzFOVAsymmetric(const float fov_horz_left_degrees,const float fov_horz_right_degrees);
                /** Changes vertical FOV (asymmetric) */
                void setVertFOVAsymmetric(const float fov_vert_down_degrees,const float fov_vert_up_degrees);

                float getHorzFOV() const { return mrpt::utils::RAD2DEG(m_fov_horz_left+m_fov_horz_right); }
                float getVertFOV() const { return mrpt::utils::RAD2DEG(m_fov_vert_down+m_fov_vert_up); }
                float getHorzFOVLeft() const { return mrpt::utils::RAD2DEG(m_fov_horz_left); }
                float getHorzFOVRight() const { return mrpt::utils::RAD2DEG(m_fov_horz_right); }
                float getVertFOVDown() const { return mrpt::utils::RAD2DEG(m_fov_vert_down); }
                float getVertFOVUp() const { return mrpt::utils::RAD2DEG(m_fov_vert_up); }

                /** Render \sa mrpt::opengl::CRenderizable */
                void render_dl() const MRPT_OVERRIDE;

                /** Ray tracing. \sa mrpt::opengl::CRenderizable */
                bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_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 MRPT_OVERRIDE;

        private:
                /** Basic empty constructor. Set all parameters to default. */
                CFrustum();
                /** Constructor with some parameters  */
                CFrustum(float near_distance, float far_distance, float horz_FOV_degrees, float vert_FOV_degrees, float lineWidth, bool draw_lines, bool draw_planes);

                /** Destructor  */
                virtual ~CFrustum() { }
        };
        DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(CFrustum,CRenderizableDisplayList, OPENGL_IMPEXP)
}
}
#endif