CCylinder.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2011  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CCylinder_H
#define opengl_CCylinder_H

#include <mrpt/opengl/CRenderizableDisplayList.h>

namespace mrpt  {
namespace opengl        {
        class OPENGL_IMPEXP CCylinder;
        // This must be added to any CSerializable derived class:
        DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(CCylinder,CRenderizableDisplayList, OPENGL_IMPEXP)
        /** A cylinder or cone whose base lies in the XY plane.
          * \sa opengl::COpenGLScene,opengl::CDisk
          *  
          *  <div align="center">
          *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
          *   <tr> <td> mrpt::opengl::CCylinder </td> <td> \image html preview_CCylinder.png </td> </tr>
          *  </table>
          *  </div>
          *  
          * \ingroup mrpt_opengl_grp
          */
        class OPENGL_IMPEXP CCylinder:public CRenderizableDisplayList   {
                DEFINE_SERIALIZABLE(CCylinder)
        protected:
                /**
                  * Cylinder's radii. If mBaseRadius==mTopRadius, then the object is an actual cylinder. If both differ, it's a truncated cone. If one of the radii is zero, the object is a cone.
                  */
                float mBaseRadius,mTopRadius;
                /**
                  * Cylinder's height
                  */
                float mHeight;
                /**
                  * Implementation parameters on which depend the number of actually rendered polygons.
                  */
                uint32_t mSlices,mStacks;
                /**
                  * Boolean parameters about including the bases in the object. If both mHasTopBase and mHasBottomBase are set to false, only the lateral area is displayed.
                  */
                bool mHasTopBase,mHasBottomBase;
        public:
                /**
                  * Constructor with two radii. Allows the construction of any cylinder.
                  */
                static CCylinderPtr Create(const float baseRadius,const float topRadius,const float height=1,const int slices=10,const int stacks=10)   {
                        return CCylinderPtr(new CCylinder(baseRadius,topRadius,height,slices,stacks));
                }
                /** Render
                  * \sa mrpt::opengl::CRenderizable
                  */
                void render_dl() const;
                /**
                  * Ray tracing.
                  * \sa mrpt::opengl::CRenderizable
                  */
                virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;
                /**
                  * Configuration of the cylinder's bases display.
                  */
                inline void setHasBases(bool top=true,bool bottom=true) {
                        mHasTopBase=top;
                        mHasBottomBase=bottom;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Check whether top base is displayed.
                  * \sa hasBottomBase
                  */
                inline bool hasTopBase() const  {
                        return mHasTopBase;
                }
                /**
                  * Check whether bottom base is displayed.
                  * \sa hasTopBase
                  */
                inline bool hasBottomBase() const       {
                        return mHasBottomBase;
                }
                /**
                  * Sets both radii to a single value, thus configuring the object as a cylinder.
                  * \sa setRadii
                  */
                inline void setRadius(float radius)     {
                        mBaseRadius=mTopRadius=radius;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Sets both radii independently.
                  * \sa setRadius
                  */
                inline void setRadii(float bottom,float top)    {
                        mBaseRadius=bottom;
                        mTopRadius=top;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Chenges cylinder's height.
                  */
                inline void setHeight(float height)     {
                        mHeight=height;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Gets the bottom radius.
                  */
                inline float getBottomRadius() const    {
                        return mBaseRadius;
                }
                /**
                  * Gets the top radius.
                  */
                inline float getTopRadius() const       {
                        return mTopRadius;
                }
                /**
                  * Gets the cylinder's height.
                  */
                inline float getHeight() const  {
                        return mHeight;
                }
                /**
                  * Gets how many slices are used in the cylinder's lateral area and in its bases.
                  */
                inline void setSlicesCount(uint32_t slices)     {
                        mSlices=slices;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Gets how many stacks are used in the cylinder's lateral area.
                  */
                inline void setStacksCount(uint32_t stacks)     {
                        mStacks=stacks;
                        CRenderizableDisplayList::notifyChange();
                }
                /**
                  * Sets the amount of slices used to display the object.
                  */
                inline uint32_t getSlicesCount() const  {
                        return mSlices;
                }
                /**
                  * Sets the amount of stacks used to display the object.
                  */
                inline uint32_t getStacksCount() const  {
                        return mStacks;
                }
        private:
                /**
                  * Basic empty constructor. Set all parameters to default.
                  */
                CCylinder():mBaseRadius(1),mTopRadius(1),mHeight(1),mSlices(10),mStacks(10),mHasTopBase(true),mHasBottomBase(true)      {};
                /**
                  * Complete constructor. Allows the configuration of every parameter.
                  */
                CCylinder(const float baseRadius,const float topRadius,const float height,const int slices,const int stacks):mBaseRadius(baseRadius),mTopRadius(topRadius),mHeight(height),mSlices(slices),mStacks(stacks),mHasTopBase(true),mHasBottomBase(true)       {};
                /**
                  * Destructor.
                  */
                virtual ~CCylinder() {};
                /**
                  * Gets the radius of the circunference located at certain height, returning false if the cylinder doesn't get that high.
                  */
                inline bool getRadius(float Z,float &r) const   {
                        if (!reachesHeight(Z)) return false;
                        r=(Z/mHeight)*(mTopRadius-mBaseRadius)+mBaseRadius;
                        return true;
                }
                /**
                  * Checks whether the cylinder exists at some height.
                  */
                inline bool reachesHeight(float Z) const        {
                        return (mHeight<0)?(Z>=mHeight&&Z<=0):(Z<=mHeight&&Z>=0);
                }
        };
}
}
#endif