CSphere.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_CSphere_H
#define opengl_CSphere_H

#include <mrpt/opengl/CRenderizableDisplayList.h>

namespace mrpt
{
        namespace opengl
        {
                class OPENGL_IMPEXP CSphere;

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

                /** A solid or wire-frame sphere.
                  *  \sa opengl::COpenGLScene
                  *  
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CSphere </td> <td> \image html preview_CSphere.png </td> </tr>
                  *  </table>
                  *  </div>
                  *  
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSphere : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CSphere )

                protected:
                        float                   m_radius;
                        int                             m_nDivsLongitude,m_nDivsLatitude;
                        bool                    m_keepRadiusIndependentEyeDistance;

                public:
                        void setRadius(float r) { m_radius=r; CRenderizableDisplayList::notifyChange(); }
                        float getRadius() const {return m_radius; }

                        void setNumberDivsLongitude(int N) { m_nDivsLongitude=N; CRenderizableDisplayList::notifyChange(); }
                        void setNumberDivsLatitude(int N) { m_nDivsLatitude=N;  CRenderizableDisplayList::notifyChange();}
                        void enableRadiusIndependentOfEyeDistance(bool v=true)  { m_keepRadiusIndependentEyeDistance=v; CRenderizableDisplayList::notifyChange(); }

                        /** \sa CRenderizableDisplayList */
                        virtual bool should_skip_display_list_cache() const { return m_keepRadiusIndependentEyeDistance; }

                        /** Class factory  */
                        static CSpherePtr Create(
                                float                           radius,
                                int                                     nDivsLongitude = 20,
                                int                                     nDivsLatitude = 20 )
                        {
                                return CSpherePtr( new CSphere(radius,nDivsLongitude,nDivsLatitude) );
                        }

                        /** Render */
                        void  render_dl() const;

                        /** Ray tracing
                          */
                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;

                private:
                        /** Constructor
                          */
                        CSphere(
                                float                           radius = 1.0f,
                                int                                     nDivsLongitude = 20,
                                int                                     nDivsLatitude = 20
                                ) :
                                m_radius(radius),
                                m_nDivsLongitude(nDivsLongitude),
                                m_nDivsLatitude(nDivsLatitude),
                                m_keepRadiusIndependentEyeDistance(false)
                        {
                        }

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSphere() { }
                };

        } // end namespace

} // End of namespace

#endif