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<a href="_c_sphere_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://www.mrpt.org/ |</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_CSphere_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CSphere_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
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>opengl
<a name="l00036"></a>00036 {
<a name="l00037"></a><a class="code" href="namespacemrpt_1_1opengl.html#ac1470f3d1bec36a5f287ae5526fd175c">00037</a> <span class="keyword">class </span><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_sphere.html" title="A solid or wire-frame sphere.">CSphere</a>;
<a name="l00038"></a>00038
<a name="l00039"></a>00039 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00040"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_sphere_ptr.html#ae961f8b565cbd19f8eadf6cdefb06116">00040</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_sphere.html" title="A solid or wire-frame sphere.">CSphere</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL's display lists.">CRenderizableDisplayList</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00041"></a>00041
<a name="l00042"></a>00042 <span class="comment">/** A solid or wire-frame sphere.</span>
<a name="l00043"></a>00043 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00044"></a>00044 <span class="comment"> * </span>
<a name="l00045"></a>00045 <span class="comment"> * <div align="center"></span>
<a name="l00046"></a>00046 <span class="comment"> * <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;"></span>
<a name="l00047"></a>00047 <span class="comment"> * <tr> <td> mrpt::opengl::CSphere </td> <td> \image html preview_CSphere.png </td> </tr></span>
<a name="l00048"></a>00048 <span class="comment"> * </table></span>
<a name="l00049"></a>00049 <span class="comment"> * </div></span>
<a name="l00050"></a>00050 <span class="comment"> * </span>
<a name="l00051"></a>00051 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00052"></a>00052 <span class="comment"> */</span>
<a name="l00053"></a>00053 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_sphere.html" title="A solid or wire-frame sphere.">CSphere</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's display lists.">CRenderizableDisplayList</a>
<a name="l00054"></a>00054 {
<a name="l00055"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#abb655e2dca532dc09eb6900bc30bd388">00055</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_sphere.html" title="A solid or wire-frame sphere.">CSphere</a> )
<a name="l00056"></a>00056
<a name="l00057"></a>00057 protected:
<a name="l00058"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a04d285dd16751dc5a8345b010a35bb82">00058</a> <span class="keywordtype">float</span> m_radius;
<a name="l00059"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#aaccb4dbb02b0e050aef4d23ca9133e7c">00059</a> <span class="keywordtype">int</span> m_nDivsLongitude,m_nDivsLatitude;
<a name="l00060"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#acd3ee04a47a204aae3798a58a958c356">00060</a> <span class="keywordtype">bool</span> m_keepRadiusIndependentEyeDistance;
<a name="l00061"></a>00061
<a name="l00062"></a>00062 public:
<a name="l00063"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#ab323f56fb53e573333dd54f0a9eb5232">00063</a> <span class="keywordtype">void</span> setRadius(<span class="keywordtype">float</span> r) { m_radius=r; <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="l00064"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a6e0fca608eb581c342b008fbda42a298">00064</a> <span class="keywordtype">float</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a6e0fca608eb581c342b008fbda42a298">getRadius</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> m_radius; }
<a name="l00065"></a>00065
<a name="l00066"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a81f724dc79d547c58967d0d72e85599c">00066</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a81f724dc79d547c58967d0d72e85599c">setNumberDivsLongitude</a>(<span class="keywordtype">int</span> N) { m_nDivsLongitude=N; <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="l00067"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#aaea4d5f5cfbbe186863a671c379615dc">00067</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#aaea4d5f5cfbbe186863a671c379615dc">setNumberDivsLatitude</a>(<span class="keywordtype">int</span> N) { m_nDivsLatitude=N; <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="l00068"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#ab1efec9f67e79d0fcbcd106ba6b10377">00068</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#ab1efec9f67e79d0fcbcd106ba6b10377">enableRadiusIndependentOfEyeDistance</a>(<span class="keywordtype">bool</span> v=<span class="keyword">true</span>) { m_keepRadiusIndependentEyeDistance=v; <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="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment"> /** \sa CRenderizableDisplayList */</span>
<a name="l00071"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a0818e8f91915837ba2fe391a7c4a9ce2">00071</a> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a0818e8f91915837ba2fe391a7c4a9ce2">should_skip_display_list_cache</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_keepRadiusIndependentEyeDistance; }
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment"> /** Class factory */</span>
<a name="l00074"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a8467453eb29d833877135e00a2eb2b35">00074</a> <span class="keyword">static</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_sphere_ptr.html">CSpherePtr</a> Create(
<a name="l00075"></a>00075 <span class="keywordtype">float</span> radius,
<a name="l00076"></a>00076 <span class="keywordtype">int</span> nDivsLongitude = 20,
<a name="l00077"></a>00077 <span class="keywordtype">int</span> nDivsLatitude = 20 )
<a name="l00078"></a>00078 {
<a name="l00079"></a>00079 <span class="keywordflow">return</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_sphere_ptr.html">CSpherePtr</a>( <span class="keyword">new</span> <a class="code" href="namespacemrpt_1_1opengl.html#ac1470f3d1bec36a5f287ae5526fd175c">CSphere</a>(radius,nDivsLongitude,nDivsLatitude) );
<a name="l00080"></a>00080 }
<a name="l00081"></a>00081 <span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Render */</span>
<a name="l00083"></a>00083 <span class="keywordtype">void</span> render_dl() <span class="keyword">const</span>;
<a name="l00084"></a>00084 <span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Ray tracing</span>
<a name="l00086"></a>00086 <span class="comment"> */</span>
<a name="l00087"></a>00087 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="group__geometry__grp.html#ga363e00600f9c000dd774e6c721faba7d" title="Fast ray tracing method using polygons' 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="l00088"></a>00088
<a name="l00089"></a>00089 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00090"></a>00090 <span class="comment"> /** Constructor</span>
<a name="l00091"></a>00091 <span class="comment"> */</span>
<a name="l00092"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#ab56cd646598e22774ab6186562dc8541">00092</a> <a class="code" href="namespacemrpt_1_1opengl.html#ac1470f3d1bec36a5f287ae5526fd175c">CSphere</a>(
<a name="l00093"></a>00093 <span class="keywordtype">float</span> radius = 1.0f,
<a name="l00094"></a>00094 <span class="keywordtype">int</span> nDivsLongitude = 20,
<a name="l00095"></a>00095 <span class="keywordtype">int</span> nDivsLatitude = 20
<a name="l00096"></a>00096 ) :
<a name="l00097"></a>00097 m_radius(radius),
<a name="l00098"></a>00098 m_nDivsLongitude(nDivsLongitude),
<a name="l00099"></a>00099 m_nDivsLatitude(nDivsLatitude),
<a name="l00100"></a>00100 m_keepRadiusIndependentEyeDistance(false)
<a name="l00101"></a>00101 {
<a name="l00102"></a>00102 }
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a9ba92c36906c71e7222554b9ec552dc7">00105</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_sphere.html#a9ba92c36906c71e7222554b9ec552dc7" title="Private, virtual destructor: only can be deleted from smart pointers.">~CSphere</a>() { }
<a name="l00106"></a>00106 };
<a name="l00107"></a>00107
<a name="l00108"></a>00108 } <span class="comment">// end namespace</span>
<a name="l00109"></a>00109
<a name="l00110"></a>00110 } <span class="comment">// End of namespace</span>
<a name="l00111"></a>00111
<a name="l00112"></a>00112 <span class="preprocessor">#endif</span>
</pre></div></div>
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