RayQuery.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_RAYQUERY_HH_
#define GZ_RENDERING_RAYQUERY_HH_
 
#include <gz/utils/SuppressWarning.hh>
#include <gz/math/Vector3.hh>
 
#include "gz/rendering/config.hh"
#include "gz/rendering/Camera.hh"
#include "gz/rendering/Scene.hh"
#include "gz/rendering/Visual.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class GZ_RENDERING_VISIBLE RayQueryResult
    {
      public: double distance = -1;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      public: math::Vector3d point;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
 
      public: unsigned int objectId = 0;
 
      public: operator bool() const
              {
                return distance > 0;
              }
 
      public: operator bool()
              {
                return distance > 0;
              }
    };
 
    class GZ_RENDERING_VISIBLE RayQuery
        : public virtual Object
    {
      public: virtual ~RayQuery();
 
      public: virtual void SetOrigin(const math::Vector3d &_origin) = 0;
 
      public: virtual math::Vector3d Origin() const = 0;
 
      public: virtual void SetDirection(const math::Vector3d &_dir) = 0;
 
      public: virtual math::Vector3d Direction() const = 0;
 
      public: virtual void SetFromCamera(const CameraPtr &_camera,
                const math::Vector2d &_coord) = 0;
 
      public: virtual void SetFromCamera(const WideAngleCameraPtr &_camera,
                                         uint32_t _faceIdx,
                                         const math::Vector2d &_coord) = 0;
 
      public: virtual void SetPreferGpu(bool _preferGpu) = 0;
 
      public: virtual bool UsesGpu() const = 0;
 
      public: virtual RayQueryResult ClosestPoint(
            bool _forceSceneUpdate = true) = 0;
    };
    }
  }
}
#endif