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(
      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);

protected:
  void instantiate(std::size_t resolution);

  Eigen::Vector3d mTail;
  Eigen::Vector3d mHead;

  Properties mProperties;
};

} // namespace dynamics
} // namespace dart

#endif // DART_DYNAMICS_ARROWSHAPE_HPP_