CBox.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_CBox_H
#define opengl_CBox_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(CBox,CRenderizableDisplayList, OPENGL_IMPEXP)
        
        /** 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).
          *
          * \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::CBox </td> <td> \image html preview_CBox.png </td> </tr>
          *  </table>
          *  </div>
          *  
          * \ingroup mrpt_opengl_grp
          */
        class OPENGL_IMPEXP CBox :public CRenderizableDisplayList       {
                DEFINE_SERIALIZABLE(CBox)

        protected:
                mrpt::math::TPoint3D    m_corner_min,m_corner_max;              //!< Corners coordinates
                bool                                    m_wireframe;    //!< true: wireframe, false: solid
                float                                   m_lineWidth;    //!< For wireframe only.
                
        public:
                /** Constructor returning a smart pointer to the newly created object. */
                static CBoxPtr Create(const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, bool  is_wireframe = false, float lineWidth = 1.0 )     
                { 
                        return CBoxPtr(new CBox(corner1,corner2,is_wireframe,lineWidth)); 
                }
                
                /** 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;
                
                inline void setLineWidth(float width) { m_lineWidth = width; CRenderizableDisplayList::notifyChange(); }
                inline float getLineWidth() const { return m_lineWidth; }
                
                inline void setWireframe(bool is_wireframe=true) { m_wireframe = is_wireframe; CRenderizableDisplayList::notifyChange(); }
                inline bool isWireframe() const { return m_wireframe; }

                /** Set the position and size of the box, from two corners in 3D */
                void setBoxCorners(const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2);
                void getBoxCorners(mrpt::math::TPoint3D &corner1, mrpt::math::TPoint3D &corner2) const { corner1= m_corner_min; corner2 = m_corner_max; }
                

        private:
                /** Basic empty constructor. Set all parameters to default. */ 
                CBox():m_corner_min(-1,-1,-1),m_corner_max(1,1,1),m_wireframe(false),m_lineWidth(1) { }
                
                /** Constructor with all the parameters  */ 
                CBox(const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, bool  is_wireframe = false, float lineWidth = 1.0) :
                        m_wireframe(is_wireframe) , m_lineWidth( lineWidth )
                {
                        setBoxCorners(corner1,corner2);                 
                }
                
                /** Destructor  */ 
                virtual ~CBox() { }
                
        };
}
}
#endif