00001 /* +---------------------------------------------------------------------------+ 00002 | The Mobile Robot Programming Toolkit (MRPT) C++ library | 00003 | | 00004 | http://mrpt.sourceforge.net/ | 00005 | | 00006 | Copyright (C) 2005-2011 University of Malaga | 00007 | | 00008 | This software was written by the Machine Perception and Intelligent | 00009 | Robotics Lab, University of Malaga (Spain). | 00010 | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> | 00011 | | 00012 | This file is part of the MRPT project. | 00013 | | 00014 | MRPT is free software: you can redistribute it and/or modify | 00015 | it under the terms of the GNU General Public License as published by | 00016 | the Free Software Foundation, either version 3 of the License, or | 00017 | (at your option) any later version. | 00018 | | 00019 | MRPT is distributed in the hope that it will be useful, | 00020 | but WITHOUT ANY WARRANTY; without even the implied warranty of | 00021 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the | 00022 | GNU General Public License for more details. | 00023 | | 00024 | You should have received a copy of the GNU General Public License | 00025 | along with MRPT. If not, see <http://www.gnu.org/licenses/>. | 00026 | | 00027 +---------------------------------------------------------------------------+ */ 00028 00029 #ifndef opengl_CCamera_H 00030 #define opengl_CCamera_H 00031 00032 #include <mrpt/opengl/CRenderizable.h> 00033 #include <mrpt/poses/CPoseOrPoint.h> 00034 00035 namespace mrpt 00036 { 00037 namespace opengl 00038 { 00039 class COpenGLViewport; 00040 class CCamera; 00041 00042 // This must be added to any CSerializable derived class: 00043 DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CCamera, CRenderizable, OPENGL_IMPEXP ) 00044 00045 /** A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera. 00046 * A camera can be defined to provide a projective or orthogonal view of the world by setting the member CCamera::m_projectiveModel. 00047 * \sa opengl::COpenGLScene 00048 */ 00049 class OPENGL_IMPEXP CCamera : public CRenderizable 00050 { 00051 friend class COpenGLViewport; 00052 00053 DEFINE_SERIALIZABLE( CCamera ) 00054 protected: 00055 00056 float m_pointingX,m_pointingY,m_pointingZ; 00057 float m_distanceZoom; 00058 float m_azimuthDeg,m_elevationDeg; 00059 00060 bool m_projectiveModel; //!< If set to true (default), camera model is projective, otherwise, it's orthogonal. 00061 float m_projectiveFOVdeg; //!< Field-of-View in degs, only when projectiveModel=true (default=30 deg). 00062 00063 public: 00064 void setPointingAt(float x,float y, float z) { m_pointingX=x; m_pointingY=y; m_pointingZ=z; } 00065 00066 template <class POSEORPOINT> 00067 void setPointingAt(const POSEORPOINT &p) 00068 { 00069 m_pointingX=p.x(); 00070 m_pointingY=p.y(); 00071 m_pointingZ=p.is3DPoseOrPoint() ? p.m_coords[2] : 0; 00072 } 00073 inline void setPointingAt(const mrpt::math::TPoint3D &p) { setPointingAt(p.x,p.y,p.z); } 00074 00075 00076 float getPointingAtX() const { return m_pointingX; } 00077 float getPointingAtY() const { return m_pointingY; } 00078 float getPointingAtZ() const { return m_pointingZ; } 00079 00080 void setZoomDistance(float z) { m_distanceZoom=z; } 00081 float getZoomDistance() const { return m_distanceZoom; } 00082 00083 float getAzimuthDegrees() const { return m_azimuthDeg; } 00084 float getElevationDegrees() const { return m_elevationDeg; } 00085 00086 void setAzimuthDegrees(float ang) { m_azimuthDeg=ang; } 00087 void setElevationDegrees(float ang) { m_elevationDeg=ang; } 00088 00089 void setProjectiveModel(bool v=true) { m_projectiveModel=v; } //!< Enable/Disable projective mode (vs. orthogonal) 00090 void setOrthogonal(bool v=true) { m_projectiveModel=!v; } //!< Enable/Disable orthogonal mode (vs. projective) 00091 00092 bool isProjective() const { return m_projectiveModel; } 00093 bool isOrthogonal() const { return !m_projectiveModel; } 00094 00095 void setProjectiveFOVdeg(float ang) { m_projectiveFOVdeg=ang; } //!< Field-of-View in degs, only when projectiveModel=true (default=30 deg). 00096 float getProjectiveFOVdeg() const { return m_projectiveFOVdeg; } //!< Field-of-View in degs, only when projectiveModel=true (default=30 deg). 00097 00098 00099 /** Render does nothing here. 00100 */ 00101 void render() const { } 00102 00103 private: 00104 /** Constructor 00105 */ 00106 CCamera(); 00107 00108 /** Private, virtual destructor: only can be deleted from smart pointers */ 00109 virtual ~CCamera() { } 00110 00111 }; 00112 00113 } // end namespace opengl 00114 00115 } // End of namespace 00116 00117 00118 #endif
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