Frustum.hh

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/*
 * 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>
#include <gz/utils/ImplPtr.hh>
 
namespace gz::math
{
  // Inline bracket to help doxygen filtering.
  inline namespace GZ_MATH_VERSION_NAMESPACE {
 
  class GZ_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(double _near,
                    double _far,
                    const math::Angle &_fov,
                    double _aspectRatio,
                    const math::Pose3d &_pose = math::Pose3d::Zero);
 
    public: double Near() const;
 
    public: void SetNear(double _near);
 
    public: double Far() const;
 
    public: void SetFar(double _far);
 
    public: math::Angle FOV() const;
 
    public: void SetFOV(const math::Angle &_fov);
 
    public: double AspectRatio() const;
 
    public: void SetAspectRatio(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);
 
    private: void ComputePlanes();
 
    GZ_UTILS_IMPL_PTR(dataPtr)
  };
  }  // GZ_MATH_VERSION_NAMESPACE
}  // namespace gz::math
#endif  // GZ_MATH_FRUSTUM_HH_