76 lines
2.5 KiB
C++
76 lines
2.5 KiB
C++
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/*
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* Copyright (C) 2014 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _GAZEBO_RAYQUERY_HH_
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#define _GAZEBO_RAYQUERY_HH_
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#include <vector>
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#include "gazebo/math/Vector3.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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/// \ingroup gazebo_rendering
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/// \brief Rendering namespace
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namespace rendering
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{
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class RayQueryPrivate;
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class RayQuery RayQuery.hh rendering/rendering.hh
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/// \brief A Ray Query class used for retrieving mesh data of a visual,
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/// adapted from Ogre3D wiki.
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class GZ_RENDERING_VISIBLE RayQuery
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{
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/// \brief Constructor
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/// \param[in] _camera Pointer to camera used for ray casting.
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public: RayQuery(CameraPtr _camera);
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/// \brief Destructor
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public: ~RayQuery();
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/// \brief Select a triangle on mesh given screen coordinates
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/// \param[in] _x X position on screen in pixels.
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/// \param[in] _y Y position on screen in pixels.
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/// \param[in] _visual Visual containing the mesh to be selected.
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/// \param[out] _intersect Intersection point.
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/// \param[out] _vertices Vertices of the selected triangle on the mesh.
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/// \return True if the ray intersects with a triangle on the mesh,
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/// false otherwise
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public: bool SelectMeshTriangle(int _x, int _y, VisualPtr _visual,
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math::Vector3 &_intersect, std::vector<math::Vector3> &_vertices);
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/// \brief Helper method to recursively find all visuals that have a mesh.
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/// \param[in] _visual Parent visual to be traversed.
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/// \param[out] _visuals A list of visuals with mesh.
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private: void GetMeshVisuals(rendering::VisualPtr _visual,
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std::vector<rendering::VisualPtr> &_visuals);
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/// \internal
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/// \brief Pointer to private data.
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private: RayQueryPrivate *dataPtr;
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};
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/// \}
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}
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}
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#endif
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