SceneProjector.h

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#ifndef CNOID_BASE_SCENE_PROJECTOR_H
#define CNOID_BASE_SCENE_PROJECTOR_H
 
#include "SceneWidgetEventHandler.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class CNOID_EXPORT SceneProjector
{
public:
    virtual ~SceneProjector();
    virtual bool project(const SceneWidgetEvent* event, Vector3& out_projected) const = 0;
};
 
 
class CNOID_EXPORT ScenePlaneProjector : public SceneProjector
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    ScenePlaneProjector();
    ScenePlaneProjector(const Vector3& normal, const Vector3& point);
    void setPlane(const Vector3& normal, const Vector3& point);
 
    const Vector3& normal() const { return normal_; }
    double d() const { return d_; }
        
    virtual bool project(const SceneWidgetEvent* event, Vector3& out_projected) const;
 
private:
    Vector3 normal_;
    double d_;
 
    bool calcPlaneLineIntersection(
        const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isect) const;
};
 
 
class CNOID_EXPORT SceneCylinderProjector : public SceneProjector
{
public:
    EIGEN_MAKE_ALIGNED_OPERATOR_NEW
 
    SceneCylinderProjector();
    SceneCylinderProjector(const Vector3& center, double radius, double height, const Quaternion& rotation);
 
    void setCylinder(const Vector3& center, double radius, double height, const Quaternion& rotation);
 
    bool initializeProjection(const SceneWidgetEvent* event);
        
    virtual bool project(const SceneWidgetEvent* event, Vector3& out_projected) const;
 
protected:
    Vector3 center_;
    double radius_;
    double height_;
    Quaternion rotation_;
    bool isFrontSurfaceProjection;
 
    bool project(
        const SceneWidgetEvent* event, Vector3& out_isecFront, Vector3& out_isecBack) const;
    bool calcUnitCylinderLineIntersection(
        const Vector3& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const;
    bool calcCylinderLineIntersection(
        const Vector3d& lineStart, const Vector3& lineEnd, Vector3& out_isectFront, Vector3& out_isectBack) const;
};
 
}
 
#endif