00001 /* 00002 * Copyright (c) 2010, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 #ifndef RVE_RENDER_CLIENT_PERSPECTIVE_PROJECTION_FACTORY_H 00031 #define RVE_RENDER_CLIENT_PERSPECTIVE_PROJECTION_FACTORY_H 00032 00033 #include <rve_msgs/Matrix4.h> 00034 #include "rve_render_client/projection_matrix_factory.h" 00035 00036 namespace rve_render_client 00037 { 00038 00040 class PerspectiveProjectionFactory: public ProjectionMatrixFactory 00041 { 00042 public: 00043 PerspectiveProjectionFactory(); 00044 00045 virtual rve_msgs::Matrix4 makeMatrix(); 00046 00047 void setFOVY(float fovy) { fovy_ = fovy; updateCamera(); } 00048 void setNearClipDistance(float near_clip) { near_clip_ = near_clip; updateCamera(); } 00049 void setFarClipDistance(float far_clip) { far_clip_ = far_clip; updateCamera(); } 00050 00051 float getFOVy() { return fovy_; } 00052 float getNearClipDistance() { return near_clip_; } 00053 float getFarClipDistance() { return far_clip_; } 00054 00055 private: 00056 00057 float fovy_; 00058 float near_clip_; 00059 float far_clip_; 00060 }; 00061 00062 } // namespace rve_render_client 00063 00064 #endif // RVE_RENDER_CLIENT_PERSPECTIVE_PROJECTION_FACTORY_H