gz/math/Frustum.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef GZ_MATH_FRUSTUM_HH_
#define GZ_MATH_FRUSTUM_HH_
 
#include <gz/math/Angle.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/math/Plane.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/config.hh>
 
namespace ignition
{
  namespace math
  {
    // Inline bracket to help doxygen filtering.
    inline namespace IGNITION_MATH_VERSION_NAMESPACE {
    //
    // Forward declaration of private data
    class FrustumPrivate;
 
    class IGNITION_MATH_VISIBLE Frustum
    {
      public: enum FrustumPlane
      {
        FRUSTUM_PLANE_NEAR   = 0,
 
        FRUSTUM_PLANE_FAR    = 1,
 
        FRUSTUM_PLANE_LEFT   = 2,
 
        FRUSTUM_PLANE_RIGHT  = 3,
 
        FRUSTUM_PLANE_TOP    = 4,
 
        FRUSTUM_PLANE_BOTTOM = 5
      };
 
      public: Frustum();
 
      public: Frustum(const double _near,
                      const double _far,
                      const math::Angle &_fov,
                      const double _aspectRatio,
                      const math::Pose3d &_pose = math::Pose3d::Zero);
 
      public: Frustum(const Frustum &_p);
 
      public: virtual ~Frustum();
 
      public: double Near() const;
 
      public: void SetNear(const double _near);
 
      public: double Far() const;
 
      public: void SetFar(const double _far);
 
      public: math::Angle FOV() const;
 
      public: void SetFOV(const math::Angle &_fov);
 
      public: double AspectRatio() const;
 
      public: void SetAspectRatio(const double _aspectRatio);
 
      public: Planed Plane(const FrustumPlane _plane) const;
 
      public: bool Contains(const AxisAlignedBox &_b) const;
 
      public: bool Contains(const Vector3d &_p) const;
 
      public: Pose3d Pose() const;
 
      public: void SetPose(const Pose3d &_pose);
 
      public: Frustum &operator=(const Frustum &_f);
 
      private: void ComputePlanes();
 
      private: FrustumPrivate *dataPtr;
    };
    }
  }
}
#endif