FrustrumGeom.hh
Go to the documentation of this file.00001 /* 00002 * Gazebo - Outdoor Multi-Robot Simulator 00003 * Copyright (C) 2003 00004 * Nate Koenig & Andrew Howard 00005 * 00006 * This program is free software; you can redistribute it and/or modify 00007 * it under the terms of the GNU General Public License as published by 00008 * the Free Software Foundation; either version 2 of the License, or 00009 * (at your option) any later version. 00010 * 00011 * This program is distributed in the hope that it will be useful, 00012 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00013 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00014 * GNU General Public License for more details. 00015 * 00016 * You should have received a copy of the GNU General Public License 00017 * along with this program; if not, write to the Free Software 00018 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA 00019 * 00020 */ 00021 /* Desc: Frustrum geometry 00022 * Author: Andrew Howard 00023 * Date: 22 Oct 2004 00024 * CVS: $Id: FrustrumGeom.hh,v 1.3 2004/11/02 07:41:45 inspectorg Exp $ 00025 */ 00026 00027 #ifndef FRUSTRUMGEOM_HH 00028 #define FRUSTRUMGEOM_HH 00029 00030 #include "Geom.hh" 00031 00032 00039 class FrustrumGeom : public Geom 00040 { 00046 public: FrustrumGeom(Body *body, dSpaceID spaceId, 00047 double aspect, double nearClip, double farClip); 00048 00050 public: virtual ~FrustrumGeom(); 00051 00053 public: void SetFOV(double fov); 00054 00056 public: virtual void Render(RenderOptions *opt); 00057 00059 private: double hfov, aspect, nearClip, farClip; 00060 00062 private: double width, height; 00063 }; 00064 00065 #endif