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include
gz
math
gz/math/Frustum.hh
Go to the documentation of this file.
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/*
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* Copyright (C) 2015 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef GZ_MATH_FRUSTUM_HH_
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#define GZ_MATH_FRUSTUM_HH_
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#include <
gz/math/Angle.hh
>
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#include <
gz/math/AxisAlignedBox.hh
>
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#include <
gz/math/Plane.hh
>
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#include <
gz/math/Pose3.hh
>
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#include <gz/math/config.hh>
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#include <gz/utils/ImplPtr.hh>
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namespace
gz
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{
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namespace
math
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{
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// Inline bracket to help doxygen filtering.
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inline
namespace
GZ_MATH_VERSION_NAMESPACE {
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class
GZ_MATH_VISIBLE
Frustum
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{
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public
:
enum
FrustumPlane
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{
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FRUSTUM_PLANE_NEAR = 0,
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FRUSTUM_PLANE_FAR = 1,
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FRUSTUM_PLANE_LEFT = 2,
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FRUSTUM_PLANE_RIGHT = 3,
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FRUSTUM_PLANE_TOP = 4,
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FRUSTUM_PLANE_BOTTOM = 5
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};
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public
:
Frustum
();
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public
:
Frustum
(
double
_near,
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double
_far,
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const
math::Angle
&_fov,
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double
_aspectRatio,
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const
math::Pose3d
&_pose = math::Pose3d::Zero);
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public
:
double
Near
()
const
;
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public
:
void
SetNear
(
double
_near);
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public
:
double
Far
()
const
;
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public
:
void
SetFar
(
double
_far);
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public
:
math::Angle
FOV
()
const
;
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public
:
void
SetFOV
(
const
math::Angle
&_fov);
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public
:
double
AspectRatio
()
const
;
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public
:
void
SetAspectRatio
(
double
_aspectRatio);
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public
:
Planed
Plane
(
const
FrustumPlane
_plane)
const
;
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public
:
bool
Contains
(
const
AxisAlignedBox
&_b)
const
;
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public
:
bool
Contains
(
const
Vector3d
&_p)
const
;
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public
:
Pose3d
Pose
()
const
;
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public
:
void
SetPose
(
const
Pose3d
&_pose);
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private
:
void
ComputePlanes();
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GZ_UTILS_IMPL_PTR(dataPtr)
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};
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}
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}
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}
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#endif