CoordinateFrameSceneObject.h

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/********************************************************************
**                Image Component Library (ICL)                    **
**                                                                 **
** Copyright (C) 2006-2013 CITEC, University of Bielefeld          **
**                         Neuroinformatics Group                  **
** Website: www.iclcv.org and                                      **
**          http://opensource.cit-ec.de/projects/icl               **
**                                                                 **
** File   : ICLGeom/src/ICLGeom/CoordinateFrameSceneObject.h       **
** Module : ICLGeom                                                **
** Authors: Christof Elbrechter                                    **
**                                                                 **
**                                                                 **
** GNU LESSER GENERAL PUBLIC LICENSE                               **
** This file may be used under the terms of the GNU Lesser General **
** Public License version 3.0 as published by the                  **
**                                                                 **
** Free Software Foundation and appearing in the file LICENSE.GPL  **
** included in the packaging of this file.  Please review the      **
** following information to ensure the license requirements will   **
** be met: http://www.gnu.org/licenses/lgpl-3.0.txt                **
**                                                                 **
** The development of this software was supported by the           **
** Excellence Cluster EXC 277 Cognitive Interaction Technology.    **
** The Excellence Cluster EXC 277 is a grant of the Deutsche       **
** Forschungsgemeinschaft (DFG) in the context of the German       **
** Excellence Initiative.                                          **
**                                                                 **
********************************************************************/

#pragma once

#ifndef HAVE_OPENGL
#warning "this header must not be included if HAVE_OPENGL is not defined"
#else

#include <ICLGeom/SceneObject.h>

namespace icl{
  namespace geom{
    

    class CoordinateFrameSceneObject : public SceneObject{
      
      float axisLength;
      
      float axisThickness;
      
      SceneObject *axis[3];
  
      public:
      
      CoordinateFrameSceneObject(float axisLength=100,float axisThickness=5):
      axisLength(axisLength),axisThickness(axisThickness){
        for(int i=0;i<3;++i){
          axis[i] = addCube(0,0,0,1);
          axis[i]->setColor(Primitive::quad,GeomColor((i==0)*255,(i==1)*255,(i==2)*255,255));
        }
        setVisible(Primitive::vertex,false,true);
        setVisible(Primitive::line,false,true);
  
        setParams(axisLength,axisThickness);
      }
      void setParams(float axisLength, float axisThickness){
        this->axisLength = axisLength;
        this->axisThickness = axisThickness;
        const float &l = axisLength, t=axisThickness;
        
        for(int i=0;i<3;++i){
          axis[i]->removeTransformation();
          axis[i]->scale((i==0)*l+(i!=0)*t,(i==1)*l+(i!=1)*t,(i==2)*l+(i!=2)*t);
          axis[i]->translate((i==0)*l/2,(i==1)*l/2,(i==2)*l/2);
        }
      }
      
      float getAxisLength() const { return axisLength; }
  
      float getAxisThickness() const { return axisThickness; }
    };
  } // namespace geom
}

#endif