FrustumVisual.hh

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/*
 * Copyright (C) 2025 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_RENDERING_FRUSTUMVISUAL_HH_
#define GZ_RENDERING_FRUSTUMVISUAL_HH_
 
#include <gz/math/Angle.hh>
#include <gz/math/Plane.hh>
#include <gz/math/Pose3.hh>
#include <gz/utils/ImplPtr.hh>
#include "gz/rendering/config.hh"
#include "gz/rendering/Visual.hh"
#include "gz/rendering/Object.hh"
#include "gz/rendering/RenderTypes.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    enum GZ_RENDERING_VISIBLE FrustumVisualPlane
    {
      FRUSTUM_PLANE_NEAR   = 0,
 
      FRUSTUM_PLANE_FAR    = 1,
 
      FRUSTUM_PLANE_LEFT   = 2,
 
      FRUSTUM_PLANE_RIGHT  = 3,
 
      FRUSTUM_PLANE_TOP    = 4,
 
      FRUSTUM_PLANE_BOTTOM = 5
    };
 
    class GZ_RENDERING_VISIBLE FrustumVisual : public virtual Visual
    {
      protected: FrustumVisual();
 
      public: virtual ~FrustumVisual();
 
      public: virtual void Update() = 0;
 
      public: virtual double NearClipPlane() const = 0;
 
      public: virtual void SetNearClipPlane(double _near) = 0;
 
      public: virtual double FarClipPlane() const = 0;
 
      public: virtual void SetFarClipPlane(double _far) = 0;
 
      public: virtual gz::math::Angle HFOV() const = 0;
 
      public: virtual void SetHFOV(const gz::math::Angle &_hfov) = 0;
 
      public: virtual double AspectRatio() const = 0;
 
      public: virtual void SetAspectRatio(double _aspectRatio) = 0;
 
      public: virtual gz::math::Planed Plane(
                  const FrustumVisualPlane _plane) const = 0;
 
      private: void ComputePlanes();
    };
    }
  }
}
#endif