geom3dview.h

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#ifndef GCOP_GEOM3DVIEW_H
#define GCOP_GEOM3DVIEW_H

#include "GL/glu.h"
#include "GL/glut.h"
#include "view.h"
#include <Eigen/Dense>


namespace gcop {

  using namespace Eigen;

  class Geom3dView : public View {
  public:
    
    Geom3dView(const char *name = 0, Matrix4d *g = 0);

    virtual ~Geom3dView();

    virtual void RenderGeom() = 0;

    virtual bool RenderFrame(int i = 0);

    static void Transform(const Matrix4d &g);    
    
    void SetColor(const double rgba[4]);

    Matrix4d *g;         

    Matrix4d g0;         

    double rgba[4];      
  };
}

#endif