mbsim 4.0.0 MBSim Kernel

planar_frustum.h
1 /* Copyright (C) 2004-2009 MBSim Development Team
2 *
3 * This library is free software; you can redistribute it and/or
4 * modify it under the terms of the GNU Lesser General Public
5 * License as published by the Free Software Foundation; either
6 * version 2.1 of the License, or (at your option) any later version.
7 *
8 * This library is distributed in the hope that it will be useful,
9 * but WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * Lesser General Public License for more details.
12 *
13 * You should have received a copy of the GNU Lesser General Public
14 * License along with this library; if not, write to the Free Software
15 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
16 *
17 * Contact: martin.o.foerg@googlemail.com
18 */
19
20 #ifndef _PLANAR_FRUSTUM_H_
21 #define _PLANAR_FRUSTUM_H_
22
23 #include "mbsim/contours/rigid_contour.h"
24 #include "mbsim/utils/boost_parameters.h"
25 #include "mbsim/utils/openmbv_utils.h"
26 #include <openmbvcppinterface/frustum.h>
27
28 namespace MBSim {
29
36 class PlanarFrustum : public RigidContour {
37 public:
42 PlanarFrustum(const std::string &name) : RigidContour(name), h(0) { }
43
44 /* INHERITED INTERFACE OF ELEMENT */
45 void init(InitStage stage, const InitConfigSet &config) override;
46 /***************************************************/
47
48 /* GETTER / SETTER */
49 void setRadii(const fmatvec::Vec2 &r_) { r = r_; }
50 const fmatvec::Vec2& getRadii() const { return r; }
51 void setHeight(double h_) { h = h_; }
52 double getHeight() const { return h; }
53 /***************************************************/
54
55 BOOST_PARAMETER_MEMBER_FUNCTION( (void), enableOpenMBV, tag, (optional (diffuseColor,(const fmatvec::Vec3&),fmatvec::Vec3(std::vector<double>{-1,1,1}))(transparency,(double),0)(pointSize,(double),0)(lineWidth,(double),0))) {
56 OpenMBVColoredBody ombv(diffuseColor,transparency,pointSize,lineWidth);
57 openMBVRigidBody=ombv.createOpenMBV<OpenMBV::Frustum>();
58 }
59
60 private:
64 fmatvec::Vec2 r;
65
69 double h;
70 };
71
72 }
73
74 #endif /* _FRUSTUM2D_H_ */
MBSim::RigidContour
basic class for rigid contours
Definition: rigid_contour.h:37
MBSim::PlanarFrustum::r
fmatvec::Vec2 r
radii of frustum in dirction of axis
Definition: planar_frustum.h:64
MBSim::PlanarFrustum::init
void init(InitStage stage, const InitConfigSet &config) override
plots time series header
Definition: planar_frustum.cc:31
MBSim::PlanarFrustum::h
double h
height of frustum
Definition: planar_frustum.h:69
MBSim::Element::InitStage
InitStage
The stages of the initialization.
Definition: element.h:62
MBSim::Element::name
std::string name
name of element
Definition: element.h:260
MBSim::PlanarFrustum
planar slice of a frustum
Definition: planar_frustum.h:36
OpenMBV::Frustum
MBSim::PlanarFrustum::PlanarFrustum
PlanarFrustum(const std::string &name)
constructor
Definition: planar_frustum.h:42
MBSim
namespace MBSim
Definition: bilateral_constraint.cc:30