RaycasterBase.hpp

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/*
 * RaycasterBase.hpp
 *
 *  @date 25.01.2019
 *  @author Alexander Mock <amock@uos.de>
 */

#pragma once
#ifndef LVR_RAYCASTER_BASE_HPP
#define LVR_RAYCASTER_BASE_HPP

#include <memory>
#include "lvr2/io/MeshBuffer.hpp"
#include "lvr2/types/MatrixTypes.hpp"

#include "Intersection.hpp"

namespace lvr2
{

template<typename IntT>
class RaycasterBase {
public:
    RaycasterBase(const MeshBufferPtr mesh);

    // PURE VIRTUALS
    virtual bool castRay(
        const Vector3f& origin,
        const Vector3f& direction,
        IntT& intersection
    ) = 0;
    
    // VIRTUALS WITH DEFAULTS. overridable
    
    virtual void castRays(
        const Vector3f& origin,
        const std::vector<Vector3f>& directions,
        std::vector<IntT>& intersections,
        std::vector<uint8_t>& hits
    );

    virtual void castRays(
        const Vector3f& origin,
        const std::vector<std::vector<Vector3f> >& directions,
        std::vector< std::vector<IntT> >& intersections,
        std::vector< std::vector<uint8_t> >& hits
    );

    virtual void castRays(
        const std::vector<Vector3f>& origins,
        const std::vector<Vector3f>& directions,
        std::vector<IntT>& intersections,
        std::vector<uint8_t>& hits
    );

    virtual void castRays(
        const std::vector<Vector3f>& origins,
        const std::vector<std::vector<Vector3f> >& directions,
        std::vector<std::vector<IntT> >& intersections,
        std::vector<std::vector<uint8_t> >& hits
    );

private:
    const MeshBufferPtr m_mesh;
};

template<typename IntT>
using RaycasterBasePtr = std::shared_ptr<RaycasterBase<IntT> >;

} // namespace lvr2

#include "RaycasterBase.tcc"

#endif // LVR_RAYCASTER_BASE_HPP