ArrowShape.hpp

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#ifndef DART_DYNAMICS_ARROWSHAPE_HPP_
#define DART_DYNAMICS_ARROWSHAPE_HPP_
 
#include "dart/dynamics/MeshShape.hpp"
 
namespace dart {
namespace dynamics {
 
class ArrowShape : public MeshShape
{
public:
  struct Properties
  {
    Properties(
        double _radius = 0.01,
        double _headRadiusScale = 2.0,
        double _headLengthScale = 0.15,
        double _minHeadLength = 0,
        double _maxHeadLength = INFINITY,
        bool _doubleArrow = false);
 
    double mRadius;
    double mHeadRadiusScale;
    double mHeadLengthScale;
    double mMinHeadLength;
    double mMaxHeadLength;
    bool mDoubleArrow;
  };
 
  ArrowShape();
 
  ArrowShape(
      const Eigen::Vector3d& _tail,
      const Eigen::Vector3d& _head,
      const Properties& _properties = Properties(),
      const Eigen::Vector4d& _color = Eigen::Vector4d(0.5, 0.5, 1.0, 1.0),
      std::size_t _resolution = 10);
 
  void setPositions(const Eigen::Vector3d& _tail, const Eigen::Vector3d& _head);
 
  const Eigen::Vector3d& getTail() const;
 
  const Eigen::Vector3d& getHead() const;
 
  void setProperties(const Properties& _properties);
 
  void notifyColorUpdated(const Eigen::Vector4d& _color) override;
 
  const Properties& getProperties() const;
 
  void configureArrow(
      const Eigen::Vector3d& _tail,
      const Eigen::Vector3d& _head,
      const Properties& _properties);
 
  // Documentation inherited.
  ShapePtr clone() const override;
 
protected:
  void instantiate(std::size_t resolution);
 
  Eigen::Vector3d mTail;
  Eigen::Vector3d mHead;
 
  Properties mProperties;
};
 
} // namespace dynamics
} // namespace dart
 
#endif // DART_DYNAMICS_ARROWSHAPE_HPP_