void CGeneralizedCylinder::getEnd(CPolyhedronPtr &poly) const {
if (!meshUpToDate) updateMesh();
if (axis.size()<2||generatrix.size()<3) throw std::logic_error("Not enough points.");
size_t i=(fullyVisible?axis.size():lastSection)-1;
generatePolygon(poly,generatrix,axis[i]);
poly->setPose(this->m_pose);
poly->setColor(getColor());
}
/*---------------------------------------------------------------
BumblebeeCamera
---------------------------------------------------------------*/
CSetOfObjectsPtr stock_objects::BumblebeeCamera()
{
CSetOfObjectsPtr camera = opengl::CSetOfObjects::Create();
CPolyhedronPtr rect = opengl::CPolyhedron::CreateCubicPrism( -0.02, 0.14, -0.02, 0.02, 0, -0.04 );
rect->setColor( 1, 0.8, 0 );
camera->insert( rect );
CCylinderPtr lCam = opengl::CCylinder::Create( 0.01,0.01, 0.003, 10, 10 );
lCam->setColor( 1,0,0 );
CCylinderPtr rCam = opengl::CCylinder::Create( 0.01,0.01, 0.003, 10, 10 );
rCam->setPose( CPose3D(0.12,0,0) );
rCam->setColor( 0,0,0 );
camera->insert( lCam );
camera->insert( rCam );
return camera;
}
pair<CPolyhedronPtr,CPolyhedronPtr> addPairOfPolys(CPolyhedronPtr p1,CPolyhedronPtr p2,CSetOfObjectsPtr &objs,double x,double y) {
p1->makeConvexPolygons();
p2->makeConvexPolygons();
#ifdef PAIRED_RANDOM_POSES
CPose3D pose=CPose3D(x,y,randomZ(),randomAngle(),randomAngle(),randomAngle());
p1->setPose(pose);
p2->setPose(pose);
#else
CPose3D pose1=CPose3D(x,y,randomZ(),randomAngle(),randomAngle(),randomAngle());
CPose3D pose2=CPose3D(x,y,randomZ(),randomAngle(),randomAngle(),randomAngle());
p1->setPose(pose1);
p2->setPose(pose2);
#endif
randomColor(p1,0.5);
randomColor(p2,0.5);
objs->insert(p1);
objs->insert(p2);
return make_pair(p1,p2);
}
