CDisk.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  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_CDisk_H
#define opengl_CDisk_H

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/math/geometry.h>

namespace mrpt
{
        namespace opengl
        {
                class MRPTDLLIMPEXP CDisk;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE( CDisk, CRenderizable )

                /** A planar disk in the XY plane.
                  *  \sa opengl::COpenGLScene
                  */
                class MRPTDLLIMPEXP CDisk : public CRenderizable
                {
                        DEFINE_SERIALIZABLE( CDisk )

                protected:
                        float           m_radiusIn,m_radiusOut;
                        uint32_t        m_nSlices, m_nLoops;

                public:
                        void setDiskRadius(float outRadius, float inRadius=0) { m_radiusIn=inRadius; m_radiusOut=outRadius; }

                        float getInRadius() const { return m_radiusIn; }
                        float getOutRadius() const { return m_radiusOut; }

                        void setSlicesCount(uint32_t N) { m_nSlices=N; }  //!< Default=50
                        void setLoopsCount(uint32_t N) { m_nLoops=N; }  //!< Default=4


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

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

                        static CDiskPtr Create(float radius,uint32_t slices=50,uint32_t loops=4)        {
                                return CDiskPtr(new CDisk(radius,0,slices,loops));
                        }
                        static CDiskPtr Create(float radiusOut,float radiusIn,uint32_t slices=50,uint32_t loops=4)      {
                                return CDiskPtr(new CDisk(radiusOut,radiusIn,slices,loops));
                        }

                private:
                        /** Constructor
                          */
                        CDisk():m_radiusIn(0),m_radiusOut(1),m_nSlices(50),m_nLoops(4) {}

                        CDisk(float rOut,float rIn,uint32_t slices,uint32_t loops):m_radiusIn(rIn),m_radiusOut(rOut),m_nSlices(slices),m_nLoops(loops)  {}

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

        } // end namespace

} // End of namespace


#endif