/usr/include/SurgSim/Graphics/OsgCapsuleRepresentation.h is in libopensurgsim-dev 0.7.0-6ubuntu1.
This file is owned by root:root, with mode 0o644.
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1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 | // This file is a part of the OpenSurgSim project.
// Copyright 2013, SimQuest Solutions Inc.
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#ifndef SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H
#define SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H
#include "SurgSim/Framework/ObjectFactory.h"
#include "SurgSim/Graphics/CapsuleRepresentation.h"
#include "SurgSim/Graphics/OsgRepresentation.h"
#include "SurgSim/Framework/SharedInstance.h"
#include <osg/PositionAttitudeTransform>
#if defined(_MSC_VER)
#pragma warning(push)
#pragma warning(disable:4250)
#endif
namespace SurgSim
{
namespace Graphics
{
class OsgUnitCylinder;
class OsgUnitSphere;
SURGSIM_STATIC_REGISTRATION(OsgCapsuleRepresentation);
/// OSG implementation of a graphics capsule representation.
class OsgCapsuleRepresentation : public OsgRepresentation, public CapsuleRepresentation
{
public:
/// Constructor
/// \param name Name of the representation
explicit OsgCapsuleRepresentation(const std::string& name);
SURGSIM_CLASSNAME(SurgSim::Graphics::OsgCapsuleRepresentation);
/// Sets the radius of the capsule
/// \param radius Radius of the capsule
void setRadius(double radius) override;
/// Returns the radius of the capsule
/// \return Radius along X-axis and Z-axis of the capsule
double getRadius() const override;
/// Sets the height of the capsule
/// \param height Height of the capsule
void setHeight(double height) override;
/// Returns the height of the capsule
/// \return Height along Y-axis of the capsule
double getHeight() const override;
/// Sets the size of the capsule
/// \param radius Size along X-axis and Z-axis of the capsule
/// \param height Size along Y-axis of the capsule
void setSize(double radius, double height) override;
/// Gets the size of the capsule
/// \param [out] radius Variable to receive the size along X-axis and Z-axis of the capsule
/// \param [out] height Variable to receive the size along Y-axis of the capsule
void getSize(double* radius, double* height) override;
/// Sets the size of the capsule
/// \param size Size of the capsule
void setSize(const SurgSim::Math::Vector2d& size) override;
/// Returns the radius of the capsule
/// \return Size of the capsule
SurgSim::Math::Vector2d getSize() const override;
private:
/// The OSG Capsule shape consist of one unit cylinder and two unit spheres
/// This transform scales it to the size set.
osg::Vec2d m_scale;
/// Shared capsule, so that the geometry can be instanced rather than having multiple copies.
std::shared_ptr<OsgUnitCylinder> m_sharedUnitCylinder;
std::shared_ptr<OsgUnitSphere> m_sharedUnitSphere;
/// Returns the shared geometry
static std::shared_ptr<OsgUnitCylinder> getSharedUnitCylinder();
static std::shared_ptr<OsgUnitSphere> getSharedUnitSphere();
osg::ref_ptr<osg::PositionAttitudeTransform> m_patCylinder;
osg::ref_ptr<osg::PositionAttitudeTransform> m_patSphere1;
osg::ref_ptr<osg::PositionAttitudeTransform> m_patSphere2;
};
}; // namespace Graphics
}; // namespace SurgSim
#if defined(_MSC_VER)
#pragma warning(pop)
#endif
#endif // SURGSIM_GRAPHICS_OSGCAPSULEREPRESENTATION_H
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