9 #ifndef opengl_CCylinder_H 10 #define opengl_CCylinder_H 36 float mBaseRadius,mTopRadius;
44 uint32_t mSlices,mStacks;
48 bool mHasTopBase,mHasBottomBase;
51 static CCylinderPtr Create(const
float baseRadius,const
float topRadius,const
float height=1,const
int slices=10,const
int stacks=10);
60 bool traceRay(const
mrpt::poses::CPose3D &o,
double &dist) const MRPT_OVERRIDE;
64 inline
void setHasBases(
bool top=true,
bool bottom=true) {
66 mHasBottomBase=bottom;
81 return mHasBottomBase;
88 mBaseRadius=mTopRadius=radius;
158 CCylinder():mBaseRadius(1),mTopRadius(1),mHeight(1),mSlices(10),mStacks(10),mHasTopBase(true),mHasBottomBase(true) {};
162 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) {};
171 if (!reachesHeight(Z))
return false;
172 r=(Z/mHeight)*(mTopRadius-mBaseRadius)+mBaseRadius;
179 return (mHeight<0)?(Z>=mHeight&&Z<=0):(Z<=mHeight&&Z>=0);
float getHeight() const
Gets the cylinder's height.
float getTopRadius() const
Gets the top radius.
uint32_t getSlicesCount() const
Sets the amount of slices used to display the object.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
bool hasBottomBase() const
Check whether bottom base is displayed.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
A renderizable object suitable for rendering with OpenGL's display lists.
bool hasTopBase() const
Check whether top base is displayed.
virtual ~CCylinder()
Destructor.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
void setSlicesCount(uint32_t slices)
Gets how many slices are used in the cylinder's lateral area and in its bases.
float getBottomRadius() const
Gets the bottom radius.
A cylinder or cone whose base lies in the XY plane.
void setStacksCount(uint32_t stacks)
Gets how many stacks are used in the cylinder's lateral area.
uint32_t getStacksCount() const
Sets the amount of stacks used to display the object.
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
void setRadius(float radius)
Sets both radii to a single value, thus configuring the object as a cylinder.
CCylinder()
Basic empty constructor.
bool getRadius(float Z, float &r) const
Gets the radius of the circunference located at certain height, returning false if the cylinder doesn...
CCylinder(const float baseRadius, const float topRadius, const float height, const int slices, const int stacks)
Complete constructor.
bool reachesHeight(float Z) const
Checks whether the cylinder exists at some height.
void setHeight(float height)
Chenges cylinder's height.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void setRadii(float bottom, float top)
Sets both radii independently.