125 lines
3.5 KiB
C++
125 lines
3.5 KiB
C++
/*
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* Copyright (C) 2012 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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#include "gazebo/math/Vector3.hh"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/rendering/WireBoxPrivate.hh"
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#include "gazebo/rendering/WireBox.hh"
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using namespace gazebo;
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using namespace rendering;
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/////////////////////////////////////////////////
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WireBox::WireBox(VisualPtr _parent, const math::Box &_box)
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: dataPtr(new WireBoxPrivate)
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{
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this->dataPtr->parent = _parent;
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this->dataPtr->lines = new DynamicLines(RENDERING_LINE_LIST);
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this->dataPtr->lines->setMaterial("BaseWhiteNoLighting");
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this->dataPtr->parent->AttachObject(this->dataPtr->lines);
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this->dataPtr->lines->setVisibilityFlags(GZ_VISIBILITY_GUI);
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this->Init(_box);
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}
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/////////////////////////////////////////////////
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WireBox::~WireBox()
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{
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delete this->dataPtr->lines;
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delete this->dataPtr;
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this->dataPtr = NULL;
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}
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/////////////////////////////////////////////////
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void WireBox::Init(const math::Box &_box)
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{
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this->dataPtr->box = _box;
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math::Vector3 max = _box.max;
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math::Vector3 min = _box.min;
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this->dataPtr->lines->Clear();
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// line 0
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this->dataPtr->lines->AddPoint(min.x, min.y, min.z);
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this->dataPtr->lines->AddPoint(max.x, min.y, min.z);
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// line 1
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this->dataPtr->lines->AddPoint(min.x, min.y, min.z);
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this->dataPtr->lines->AddPoint(min.x, min.y, max.z);
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// line 2
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this->dataPtr->lines->AddPoint(min.x, min.y, min.z);
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this->dataPtr->lines->AddPoint(min.x, max.y, min.z);
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// line 3
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this->dataPtr->lines->AddPoint(min.x, max.y, min.z);
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this->dataPtr->lines->AddPoint(min.x, max.y, max.z);
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// line 4
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this->dataPtr->lines->AddPoint(min.x, max.y, min.z);
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this->dataPtr->lines->AddPoint(max.x, max.y, min.z);
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// line 5
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this->dataPtr->lines->AddPoint(max.x, min.y, min.z);
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this->dataPtr->lines->AddPoint(max.x, min.y, max.z);
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// line 6
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this->dataPtr->lines->AddPoint(max.x, min.y, min.z);
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this->dataPtr->lines->AddPoint(max.x, max.y, min.z);
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// line 7
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this->dataPtr->lines->AddPoint(min.x, max.y, max.z);
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this->dataPtr->lines->AddPoint(max.x, max.y, max.z);
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// line 8
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this->dataPtr->lines->AddPoint(min.x, max.y, max.z);
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this->dataPtr->lines->AddPoint(min.x, min.y, max.z);
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// line 9
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this->dataPtr->lines->AddPoint(max.x, max.y, min.z);
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this->dataPtr->lines->AddPoint(max.x, max.y, max.z);
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// line 10
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this->dataPtr->lines->AddPoint(max.x, min.y, max.z);
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this->dataPtr->lines->AddPoint(max.x, max.y, max.z);
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// line 11
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this->dataPtr->lines->AddPoint(min.x, min.y, max.z);
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this->dataPtr->lines->AddPoint(max.x, min.y, max.z);
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this->dataPtr->lines->Update();
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}
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/////////////////////////////////////////////////
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void WireBox::SetVisible(bool _visible)
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{
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this->dataPtr->lines->setVisible(_visible);
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}
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/////////////////////////////////////////////////
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bool WireBox::GetVisible() const
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{
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return this->dataPtr->lines->isVisible();
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}
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/////////////////////////////////////////////////
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math::Box WireBox::GetBox() const
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{
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return this->dataPtr->box;
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}
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