boxobstacledisplay.h

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/*
* Copyright 2015 Autodesk, Inc. All rights reserved.
* Use of this software is subject to the terms of the Autodesk license agreement and any attachments or Appendices thereto provided at the time of installation or download,
* or which otherwise accompanies this software in either electronic or hard copy form, or which is signed by you and accepted by Autodesk.
*/


// Contacts: LAPA
#ifndef Navigation_BoxObstacleDisplay_H
#define Navigation_BoxObstacleDisplay_H

#include "gwnavruntime/visualsystem/visualcolor.h"

namespace Kaim
{

class ScopedDisplayList;
class BoxObstacleBlob;

class BoxObstacleDisplayListBuilder
{
public:
    BoxObstacleDisplayListBuilder()
    {
        m_boxColor = VisualColor::Green;
        m_obstacleLinearVelocityColor = VisualColor::LightGreen;
        m_obstacleAngularVelocityColor = VisualColor::LightCyan;
        m_obstacleAngularSpeedColor = VisualColor::Cyan;
        m_spatializedCylindersColor_Projected = VisualColor::Lime;
        m_spatializedCylindersColor_NotProjected = VisualColor::Red;
        m_spatializedCylindersVelocityColor = VisualColor::White;
        m_spatializationLinkColor = VisualColor::LightYellow;
        m_linearVelocityArrowWidth = 0.05f;
        m_angularVelocityArrowWidth = 0.05f;
        m_boxAlpha = 255;
    }

    void DisplayOutline(ScopedDisplayList* displayList, const BoxObstacleBlob* boxObstacle, VisualColor& obstacleColor, VisualColor& obstacleLineColor);
    void DisplayStatus(ScopedDisplayList* displayList, const BoxObstacleBlob* boxObstacle);
    void DisplayTransform(ScopedDisplayList* displayList, const BoxObstacleBlob* boxObstacleBlob);
    void DisplayBoxVelocities(ScopedDisplayList* displayList, const BoxObstacleBlob* boxObstacleBlob);
    
public:
    VisualColor m_boxColor;
    VisualColor m_obstacleLinearVelocityColor;
    VisualColor m_obstacleAngularVelocityColor;
    VisualColor m_obstacleAngularSpeedColor;
    VisualColor m_spatializedCylindersColor_Projected;
    VisualColor m_spatializedCylindersColor_NotProjected;
    VisualColor m_spatializedCylindersVelocityColor;
    VisualColor m_spatializationLinkColor;
    KyFloat32 m_linearVelocityArrowWidth;
    KyFloat32 m_angularVelocityArrowWidth;

    KyUInt8 m_boxAlpha;
    bool m_drawAsWireframe;

    bool m_forceBoxRender;
    bool m_renderTransform;
    bool m_renderBoxVelocities;
};

}

#endif