Parallelogram.h

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/*
* ==========================================================================
*               This file is part of the implementation of
*
*               <FrameFab: Robotic Fabrication of Frame Shapes>
*               Yijiang Huang, Juyong Zhang, Xin Hu, Guoxian Song, Zhongyuan Liu, Lei Yu, Ligang Liu
*               In ACM Transactions on Graphics (Proc. SIGGRAPH Asia 2016)
----------------------------------------------------------------------------
*               class:  Parallelogram
*
*               Description:
*
*               Version:  2.0
*               Created:  Oct/20/2015
*
*               Author:  Xin Hu, Yijiang Huang, Guoxian Song
*               Company:  GCL@USTC
*               Citation:       This file use some geometric API and objects from
*                       Title:                  Geometric Tools Engine
*                                                       a library of source code for computing in the fields of
*                                                       mathematics, graphics, image analysis, and physics.
*                       Code Version:   3.2.6
*                       Availability:   http://www.geometrictools.com/index.html
----------------------------------------------------------------------------
*               Copyright (C) 2016  Yijiang Huang, Xin Hu, Guoxian Song, Juyong Zhang
*               and Ligang Liu.
*
*               FrameFab is free software: you can redistribute it and/or modify
*               it under the terms of the GNU General Public License as published by
*               the Free Software Foundation, either version 3 of the License, or
*               (at your option) any later version.
*
*               FrameFab is distributed in the hope that it will be useful,
*               but WITHOUT ANY WARRANTY; without even the implied warranty of
*               MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
*               GNU General Public License for more details.
*
*               You should have received a copy of the GNU General Public License
*               along with FrameFab.  If not, see <http://www.gnu.org/licenses/>.
* ==========================================================================
*/

#pragma once

#include "choreo_task_sequence_planner/utils/Polyface.h"

class Parallelogram : public Polyface
{
public:
        Parallelogram()
        {
                vert_list_.push_back(point(0, 0, 0));
                vert_list_.push_back(point(1, 0, 0));
                vert_list_.push_back(point(1, 1, 0));
                vert_list_.push_back(point(0, 1, 0));
                Normal_();
        }

        Parallelogram(point v0, point v1, point v2, point v3)
        {
                vert_list_.push_back(v0);
                vert_list_.push_back(v1);
                vert_list_.push_back(v2);
                vert_list_.push_back(v3);
                Normal_();
        }

        Parallelogram(GeoV3 v0, GeoV3 v1, GeoV3 v2, GeoV3 v3)
        {
                vert_list_.push_back(Trans(v0));
                vert_list_.push_back(Trans(v1));
                vert_list_.push_back(Trans(v2));
                vert_list_.push_back(Trans(v3));
                Normal_();
        }

        ~Parallelogram() {}

public:
        void Print()
        {
                point _v0 = v0();
                point _v1 = v1();
                point _v2 = v2();
                point _v3 = v3();

                std::cout << _v0.x() << ", " << _v0.y() << ", " << _v0.z() << std::endl;
                std::cout << _v1.x() << ", " << _v1.y() << ", " << _v1.z() << std::endl;
                std::cout << _v2.x() << ", " << _v2.y() << ", " << _v2.z() << std::endl;
                std::cout << _v3.x() << ", " << _v3.y() << ", " << _v3.z() << std::endl;
        }

        void Render(WireFrame* ptr_frame, double alpha)
        {
        
                glBegin(GL_QUADS);
                glColor4f(1.0, 1.0, 0, alpha);
                glNormal3fv(normal_);
                glVertex3fv(ptr_frame->Unify(v0()));
                glVertex3fv(ptr_frame->Unify(v1()));
                glVertex3fv(ptr_frame->Unify(v2()));
                glVertex3fv(ptr_frame->Unify(v3()));
                glEnd();
        }
};