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<h1>CBox.h</h1> </div>
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<div class="contents">
<a href="_c_box_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef opengl_CBox_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CBox_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_display_list_8h.html">mrpt/opengl/CRenderizableDisplayList.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="lightweight__geom__data_8h.html">mrpt/math/lightweight_geom_data.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>opengl {
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00038"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_box_ptr.html#a75a40bcb45e09633f63d9a300170c819">00038</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>(<a class="code" href="classmrpt_1_1opengl_1_1_c_box.html" title="A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X...">CBox</a>,<a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL&#39;s display lists.">CRenderizableDisplayList</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a>)
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">/** 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).</span>
<a name="l00041"></a>00041 <span class="comment"> *</span>
<a name="l00042"></a>00042 <span class="comment"> * \sa opengl::COpenGLScene,opengl::CRenderizable</span>
<a name="l00043"></a>00043 <span class="comment"> * </span>
<a name="l00044"></a>00044 <span class="comment"> * <div align="center"></span>
<a name="l00045"></a>00045 <span class="comment"> * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"></span>
<a name="l00046"></a>00046 <span class="comment"> * <tr> <td> mrpt::opengl::CBox </td> <td> \image html preview_CBox.png </td> </tr></span>
<a name="l00047"></a>00047 <span class="comment"> * </table></span>
<a name="l00048"></a>00048 <span class="comment"> * </div></span>
<a name="l00049"></a>00049 <span class="comment"> * </span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html">00051</a> class <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html" title="A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X...">CBox</a> :public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL&#39;s display lists.">CRenderizableDisplayList</a> {
<a name="l00052"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a9a0d3b900ddda8cf2f9e00e182f2aadf">00052</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>(<a class="code" href="classmrpt_1_1opengl_1_1_c_box.html" title="A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X...">CBox</a>)
<a name="l00053"></a>00053
<a name="l00054"></a>00054 protected:
<a name="l00055"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#acb2dee9e1b1297573e394b927cffe652">00055</a> mrpt::math::<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> m_corner_min,m_corner_max; <span class="comment">//!< Corners coordinates</span>
<a name="l00056"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a15f8aa39fecc784931c4a25dc5bce787">00056</a> <span class="comment"></span> <span class="keywordtype">bool</span> m_wireframe; <span class="comment">//!< true: wireframe, false: solid</span>
<a name="l00057"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a9b42ed695f6ea941ed687631f1ba9d4c">00057</a> <span class="comment"></span> <span class="keywordtype">float</span> m_lineWidth; <span class="comment">//!< For wireframe only.</span>
<a name="l00058"></a>00058 <span class="comment"></span>
<a name="l00059"></a>00059 public:<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Constructor returning a smart pointer to the newly created object. */</span>
<a name="l00061"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ab6d44ae20ec32f5604584eb2ae5acecd">00061</a> static <a class="code" href="structmrpt_1_1opengl_1_1_c_box_ptr.html">CBoxPtr</a> Create(const mrpt::math::<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &corner1, const mrpt::math::<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">TPoint3D</a> &corner2, <span class="keywordtype">bool</span> is_wireframe = false, <span class="keywordtype">float</span> lineWidth = 1.0 )
<a name="l00062"></a>00062 {
<a name="l00063"></a>00063 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_box_ptr.html">CBoxPtr</a>(<span class="keyword">new</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html" title="A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X...">CBox</a>(corner1,corner2,is_wireframe,lineWidth));
<a name="l00064"></a>00064 }
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** Render</span>
<a name="l00067"></a>00067 <span class="comment"> * \sa mrpt::opengl::CRenderizable</span>
<a name="l00068"></a>00068 <span class="comment"> */</span>
<a name="l00069"></a>00069 <span class="keywordtype">void</span> render_dl() <span class="keyword">const</span>;
<a name="l00070"></a>00070 <span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /**</span>
<a name="l00072"></a>00072 <span class="comment"> * Ray tracing.</span>
<a name="l00073"></a>00073 <span class="comment"> * \sa mrpt::opengl::CRenderizable</span>
<a name="l00074"></a>00074 <span class="comment"> */</span>
<a name="l00075"></a>00075 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a363e00600f9c000dd774e6c721faba7d" title="Fast ray tracing method using polygons&#39; properties.">traceRay</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &o,<span class="keywordtype">double</span> &dist) <span class="keyword">const</span>;
<a name="l00076"></a>00076
<a name="l00077"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aa5b1de6f62291196b3cddc269225ee94">00077</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aa5b1de6f62291196b3cddc269225ee94">setLineWidth</a>(<span class="keywordtype">float</span> width) { m_lineWidth = width; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00078"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ae910f1fe11be37529c46872b20125888">00078</a> <span class="keyword">inline</span> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ae910f1fe11be37529c46872b20125888">getLineWidth</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_lineWidth; }
<a name="l00079"></a>00079
<a name="l00080"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aaee4f4bd68bb1e6ae6704f67a17ecc5d">00080</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aaee4f4bd68bb1e6ae6704f67a17ecc5d">setWireframe</a>(<span class="keywordtype">bool</span> is_wireframe=<span class="keyword">true</span>) { m_wireframe = is_wireframe; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00081"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a3ad1f5cf60e4170f296a0c94ce664b47">00081</a> <span class="keyword">inline</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a3ad1f5cf60e4170f296a0c94ce664b47">isWireframe</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_wireframe; }
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Set the position and size of the box, from two corners in 3D */</span>
<a name="l00084"></a>00084 <span class="keywordtype">void</span> setBoxCorners(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner1, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner2);
<a name="l00085"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ad5670d1086264d14b2d1880ecd438315">00085</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#ad5670d1086264d14b2d1880ecd438315">getBoxCorners</a>(<a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner1, <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner2)<span class="keyword"> const </span>{ corner1= m_corner_min; corner2 = m_corner_max; }
<a name="l00086"></a>00086
<a name="l00087"></a>00087
<a name="l00088"></a>00088 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00089"></a>00089 <span class="comment"> /** Basic empty constructor. Set all parameters to default. */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aa22a9b196fe883af1a9be0500613b3bf">00090</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aa22a9b196fe883af1a9be0500613b3bf" title="Basic empty constructor.">CBox</a>():m_corner_min(-1,-1,-1),m_corner_max(1,1,1),m_wireframe(false),m_lineWidth(1) { }
<a name="l00091"></a>00091 <span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /** Constructor with all the parameters */</span>
<a name="l00093"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#a4c742ab67b65120de7ca94e69d637e6c">00093</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html" title="A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X...">CBox</a>(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner1, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1math_1_1_t_point3_d.html" title="Lightweight 3D point.">mrpt::math::TPoint3D</a> &corner2, <span class="keywordtype">bool</span> is_wireframe = <span class="keyword">false</span>, <span class="keywordtype">float</span> lineWidth = 1.0) :
<a name="l00094"></a>00094 m_wireframe(is_wireframe) , m_lineWidth( lineWidth )
<a name="l00095"></a>00095 {
<a name="l00096"></a>00096 setBoxCorners(corner1,corner2);
<a name="l00097"></a>00097 }
<a name="l00098"></a>00098 <span class="comment"></span>
<a name="l00099"></a>00099 <span class="comment"> /** Destructor */</span>
<a name="l00100"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aeb9dd7a35bb7650ac0d5fe4ca8fc4503">00100</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_box.html#aeb9dd7a35bb7650ac0d5fe4ca8fc4503" title="Destructor.">~CBox</a>() { }
<a name="l00101"></a>00101
<a name="l00102"></a>00102 };
<a name="l00103"></a>00103 }
<a name="l00104"></a>00104 }
<a name="l00105"></a>00105 <span class="preprocessor">#endif</span>
</pre></div></div>
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