Arrow.cpp

Go to the documentation of this file.

 
 /*
 * PointCloud.cpp
 *
 *  Created on: 02.09.2008
 *      Author: twiemann
 */
 
#include "lvr2/display/Arrow.hpp"
#include <GL/glut.h>
 
namespace lvr2
{
 
Arrow::Arrow(string filename) : Renderable(filename){
    color = 0;
}
 
Arrow::Arrow(int color){
    this->color = color;
}
 
void Arrow::setPosition(double x, double y, double z, double roll, double pitch, double yaw) {
    this->m_position.x = x;
    this->m_position.y = y;
    this->m_position.z = z;
    this->roll = roll;
    this->pitch = pitch;
    this->yaw = yaw;
 
    double rot[3];
    double pos[3];
    rot[0] =  roll; //pitch; //x-axis
    rot[1] =  pitch; //y-axis
    rot[2] =  yaw; //z-axis
    pos[0] =  m_position.x;
    pos[1] =  m_position.y;
    pos[2] =  m_position.z;
 
    //  Quat quat(rot, pos);
 
    float alignxf[16];
    EulerToMatrix(pos, rot, alignxf);
 
    //  quat.getMatrix(alignxf);
    rotation = Matrix4<BaseVector<float>>(alignxf);
}
 
Arrow::~Arrow() {
    // TODO Auto-generated destructor stub
}
 
void Arrow::render() {
    //  float radius = 30.0f;
    //  float length = 150.0f;
    //  int nbSubdivisions = 4;
 
    glPushMatrix();
    glMultMatrixf(m_transformation.getData());
    glMultMatrixf(rotation.getData());
    if(m_showAxes) glCallList(m_axesListIndex);
 
    glDisable(GL_LIGHTING);
    glDisable(GL_BLEND);
 
    switch (color) {
    case 0: glColor4f(1.0f, 0.0f, 0.0f, 1.0f); break;
    case 1: glColor4f(0.0f, 1.0f, 0.0f, 1.0f); break;
    default: glColor4f(0.0f, 0.0f, 1.0f, 1.0f); break;
    }
 
    glRotated(90.0, 0.0, 1.0, 0.0);
 
    GLUquadric* quadric = gluNewQuadric();
    //  gluCylinder (quadric, radius, 0, length, nbSubdivisions, 1 );
    //
    //  glBindTexture(GL_TEXTURE_2D, theTexture);
    //
    //  glEnable(GL_TEXTURE_2D);
    glBegin(GL_QUADS);
 
    float xLength = 50;
    float yLength = 30;
    float zLength = 80;
 
    glColor4f(0.0f, 1.0f, 1.0f, 1.0f);
    glVertex3f( xLength, yLength,-zLength);
    glVertex3f(-xLength, yLength,-zLength);
    glVertex3f(-xLength, yLength, zLength);
    glVertex3f( xLength, yLength, zLength);
 
    glColor4f(1.0f, 1.0f, 0.0f, 1.0f);
    glVertex3f( xLength,-yLength, zLength);
    glVertex3f(-xLength,-yLength, zLength);
    glVertex3f(-xLength,-yLength,-zLength);
    glVertex3f( xLength,-yLength,-zLength);
 
    // front and back
    glColor4f(0.0f, 1.0f, 0.0f, 1.0f);
    glVertex3f(xLength, yLength, zLength);
    glVertex3f(-xLength, yLength, zLength);
    glVertex3f(-xLength,-yLength, zLength);
    glVertex3f( xLength,-yLength, zLength);
 
    glColor4f(0.0f, 0.0f, 1.0f, 1.0f);
    glVertex3f( xLength,-yLength,-zLength);
    glVertex3f(-xLength,-yLength,-zLength);
    glVertex3f(-xLength, yLength,-zLength);
    glVertex3f( xLength, yLength,-zLength);
 
    glColor4f(1.0f, 0.0f, 0.0f, 1.0f);
    glVertex3f(-xLength, yLength, zLength);
    glVertex3f(-xLength, yLength,-zLength);
    glVertex3f(-xLength,-yLength,-zLength);
    glVertex3f(-xLength,-yLength, zLength);
 
    glVertex3f( xLength, yLength,-zLength);
    glVertex3f( xLength, yLength, zLength);
    glVertex3f( xLength,-yLength, zLength);
    glVertex3f( xLength,-yLength,-zLength);
 
    glEnd();
    //  glDisable(GL_TEXTURE_2D);
 
 
    glDisable(GL_LIGHTING);
    gluDeleteQuadric ( quadric );
    glPopMatrix();
    glPopAttrib();
    glEnable(GL_BLEND);
}
 
} // namespace lvr2