OgreRayQuery.hh

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/*
 * Copyright (C) 2017 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_OGRE_OGRERAYQUERY_HH_
#define GZ_RENDERING_OGRE_OGRERAYQUERY_HH_
 
#include <memory>
 
#include "gz/rendering/base/BaseRayQuery.hh"
#include "gz/rendering/ogre/OgreIncludes.hh"
#include "gz/rendering/ogre/OgreObject.hh"
#include "gz/rendering/ogre/OgreRenderTypes.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    // forward declaration
    class OgreRayQueryPrivate;
 
    class GZ_RENDERING_OGRE_VISIBLE OgreRayQuery :
        public BaseRayQuery<OgreObject>
    {
      protected: OgreRayQuery();
 
      public: virtual ~OgreRayQuery() override;
 
      // Documentation inherited
      public: virtual void SetFromCamera(const CameraPtr &_camera,
                                         const math::Vector2d &_coord) override;
 
      // Documentation inherited
      public: void SetFromCamera(const WideAngleCameraPtr &_camera,
                                 uint32_t _faceIdx,
                                 const math::Vector2d &_coord) override;
 
      // Documentation inherited
      public: virtual RayQueryResult ClosestPoint(
            bool _forceSceneUpdate = true) override;
 
      // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
      private: void MeshInformation(const Ogre::Mesh *_mesh,
                                    size_t &_vertexCount,
                                    Ogre::Vector3* &_vertices,
                                    size_t &_indexCount,
                                    uint64_t* &_indices,
                                    const math::Vector3d &_position,
                                    const math::Quaterniond &_orient,
                                    const math::Vector3d &_scale);
 
      private: std::unique_ptr<OgreRayQueryPrivate> dataPtr;
 
      private: friend class OgreScene;
    };
    }
  }
}
#endif