HUMIM Tracker: /home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/utility/gl/gl_draw

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00001 #ifndef OPENTISSUE_UTILITY_GL_GL_DRAW_OBB_H
00002 #define OPENTISSUE_UTILITY_GL_GL_DRAW_OBB_H
00003 //
00004 // OpenTissue Template Library
00005 // - A generic toolbox for physics-based modeling and simulation.
00006 // Copyright (C) 2008 Department of Computer Science, University of Copenhagen.
00007 //
00008 // OTTL is licensed under zlib: http://opensource.org/licenses/zlib-license.php
00009 //
00010 #include <OpenTissue/configuration.h>
00011 
00012 #include <OpenTissue/utility/gl/gl.h>
00013 #include <OpenTissue/core/math/math_rotation.h>
00014 #include <OpenTissue/core/math/math_constants.h>
00015 
00016 namespace OpenTissue
00017 {
00018 
00019   namespace gl
00020   {
00021 
00028     template<typename obb_type>
00029     inline void DrawOBB(obb_type const & obb, bool wireframe = false)
00030     {
00031       typedef typename obb_type::real_type       real_type;
00032       typedef typename obb_type::vector3_type    vector3_type;
00033       typedef typename obb_type::matrix3x3_type  matrix3x3_type;
00034 
00035       vector3_type /*const &*/ T = obb.center();
00036       vector3_type const & ext = obb.ext();
00037       matrix3x3_type const & R = obb.orientation();
00038 
00039       glPushMatrix();
00040       glTranslatef(
00041         (GLfloat)T[0],
00042         (GLfloat)T[1],
00043         (GLfloat)T[2]
00044       );
00045       math::Rotation<real_type>  rot;
00046       rot = R;
00047       real_type degrees = math::to_degrees(rot.angle());
00048       glRotatef((GLfloat)degrees,(GLfloat)rot.axis()[0],(GLfloat)rot.axis()[1],(GLfloat)rot.axis()[2]);
00049       GLenum const mode = wireframe ? GL_LINE_LOOP : GL_POLYGON;
00050       //--- pos z
00051       glBegin(mode);
00052       glNormal3f(0,0,1);
00053       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00054       glNormal3f(0,0,1);
00055       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00056       glNormal3f(0,0,1);
00057       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00058       glNormal3f(0,0,1);
00059       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00060       glEnd();
00061       //--- pos x
00062       glBegin(mode);
00063       glNormal3f(1,0,0);
00064       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00065       glNormal3f(1,0,0);
00066       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00067       glNormal3f(1,0,0);
00068       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00069       glNormal3f(1,0,0);
00070       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00071       glEnd();
00072       //---- pos y
00073       glBegin(mode);
00074       glNormal3f(0,1,0);
00075       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00076       glNormal3f(0,1,0);
00077       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00078       glNormal3f(0,1,0);
00079       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00080       glNormal3f(0,1,0);
00081       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00082       glEnd();
00083       //--- neg z
00084       glBegin(mode);
00085       glNormal3f(0,0,-1);
00086       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00087       glNormal3f(0,0,-1);
00088       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00089       glNormal3f(0,0,-1);
00090       glVertex3f((GLfloat)ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00091       glNormal3f(0,0,-1);
00092       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00093       glEnd();
00094       //--- neg y
00095       glBegin(mode);
00096       glNormal3f(0,-1,0);
00097       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00098       glNormal3f(0,-1,0);
00099       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00100       glNormal3f(0,-1,0);
00101       glVertex3f((GLfloat)ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00102       glNormal3f(0,-1,0);
00103       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00104       glEnd();
00105       //--- neg x
00106       glBegin(mode);
00107       glNormal3f(-1,0,0);
00108       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)-ext[2]);
00109       glNormal3f(-1,0,0);
00110       glVertex3f((GLfloat)-ext[0],(GLfloat)-ext[1],(GLfloat)ext[2]);
00111       glNormal3f(-1,0,0);
00112       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)ext[2]);
00113       glNormal3f(-1,0,0);
00114       glVertex3f((GLfloat)-ext[0],(GLfloat)ext[1],(GLfloat)-ext[2]);
00115       glEnd();
00116       glPopMatrix();
00117     }
00118 
00119   } // namespace gl
00120 
00121 } // namespace OpenTissue
00122 
00123 // OPENTISSUE_UTILITY_GL_GL_DRAW_OBB_H
00124 #endif
/home/hauberg/Dokumenter/Capture/humim-tracker-0.1/src/OpenTissue/OpenTissue/utility/gl/gl_draw_obb.h
