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CGeneralizedCylinder.h
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9 #ifndef opengl_CGeneralizedCylinder_H
10 #define opengl_CGeneralizedCylinder_H
11 
15 #include <mrpt/math/geometry.h>
18 
19 namespace mrpt {
20 namespace opengl {
22  // This must be added to any CSerializable derived class:
24  /**
25  * This object represents any figure obtained by extruding any profile along a given axis. The profile should lie over a x=0 plane, and the axis must be roughly perpendicular to this plane. In particular, it should be almost perpendicular to the Z axis.
26  * \ingroup mrpt_opengl_grp
27  */
30  public:
31  /**
32  * Auxiliary struct holding any quadrilateral, represented by foour points.
33  */
35  private:
36  /**
37  * Automatically compute a vector normal to this quadrilateral.
38  */
39  void calculateNormal();
40  public:
41  /**
42  * Quadrilateral`'s points.
43  */
45  /**
46  * Normal vector.
47  */
48  double normal[3];
49  /**
50  * Given a polygon with 4 already positions allocated, this method fills it with the quadrilateral points.
51  * \sa mrpt::math::TPolygon3D
52  */
53  inline void getAsPolygonUnsafe(mrpt::math::TPolygon3D &vec) const {
54  vec[0]=points[0];
55  vec[1]=points[1];
56  vec[2]=points[2];
57  vec[3]=points[3];
58  }
59  /**
60  * Constructor from 4 points.
61  */
63  points[0]=p1;
64  points[1]=p2;
65  points[2]=p3;
66  points[3]=p4;
67  calculateNormal();
68  }
69  /**
70  * Construction from any array of four compatible objects.
71  */
72  template<class T> TQuadrilateral(const T (&p)[4]) {
73  for (int i=0;i<4;i++) points[i]=p[i];
74  calculateNormal();
75  }
76  /**
77  * Empty constructor. Initializes to garbage.
78  */
80  /**
81  * Destructor.
82  */
84  };
85  protected:
86  /** Cylinder's axis. It's represented as a pose because it holds the angle to get to the next pose. */
88  /** Object's generatrix, that is, profile which will be extruded. */
89  std::vector<mrpt::math::TPoint3D> generatrix;
90  /** Mutable object with mesh information, used to avoid repeated computations. */
91  mutable std::vector<TQuadrilateral> mesh;
92  /** Mutable object with the cylinder's points, used to avoid repeated computations. */
94  /** Mutable flag which tells if recalculations are needed. */
95  mutable bool meshUpToDate;
96  /**
97  * Mutable set of data used in ray tracing.
98  * \sa mrpt::math::TPolygonWithPlane
99  */
100  mutable std::vector<mrpt::math::TPolygonWithPlane> polys;
101  /** Mutable flag telling whether ray tracing temporary data must be recalculated or not. */
102  mutable bool polysUpToDate;
103  /** Boolean variable which determines if the profile is closed at each section. */
104  bool closed;
105  /** Flag to determine whether the object is fully visible or only some sections are. */
107  /**
108  * First visible section, if fullyVisible is set to false.
109  * \sa fullyVisible,lastSection
110  */
111  size_t firstSection;
112  /**
113  * Last visible section, if fullyVisible is set to false.
114  * \sa fullyVisible,firstSection
115  */
116  size_t lastSection;
117  public:
118  /**
119  * Creation of generalized cylinder from axis and generatrix
120  */
121  static CGeneralizedCylinderPtr Create(const std::vector<mrpt::math::TPoint3D> &axis,const std::vector<mrpt::math::TPoint3D> &generatrix);
122  /**
123  * Render.
124  * \sa mrpt::opengl::CRenderizable
125  */
126  void render_dl() const MRPT_OVERRIDE;
127  /**
128  * Ray tracing.
129  * \sa mrpt::opengl::CRenderizable.
130  */
131  bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
132  /**
133  * Get axis's spatial coordinates.
134  */
135  inline void getAxis(std::vector<mrpt::math::TPoint3D> &a) const {
136  //a=axis;
137  size_t N=axis.size();
138  a.resize(N);
139  for (size_t i=0;i<N;i++) {
140  a[i].x=axis[i].x();
141  a[i].y=axis[i].y();
142  a[i].z=axis[i].z();
143  }
144  }
145  /**
146  * Get axis, including angular coordinates.
147  */
149  a=axis;
150  }
151  /**
152  * Set the axis points.
153  */
154  inline void setAxis(const std::vector<mrpt::math::TPoint3D> &a) {
155  generatePoses(a,axis);
156  meshUpToDate=false;
157  fullyVisible=true;
159  }
160  /**
161  * Get cylinder's profile.
162  */
163  inline void getGeneratrix(std::vector<mrpt::math::TPoint3D> &g) const {
164  g=generatrix;
165  }
166  /**
167  * Set cylinder's profile.
168  */
169  inline void setGeneratrix(const std::vector<mrpt::math::TPoint3D> &g) {
170  generatrix=g;
171  meshUpToDate=false;
173  }
174  /**
175  * Returns true if each section is a closed polygon.
176  */
177  inline bool isClosed() const {
178  return closed;
179  }
180  /**
181  * Set whether each section is a closed polygon or not.
182  */
183  inline void setClosed(bool c=true) {
184  closed=c;
185  meshUpToDate=false;
187  }
188  /**
189  * Get a polyhedron containing the starting point of the cylinder (its "base").
190  * \sa getEnd,mrpt::opengl::CPolyhedron
191  */
192  void getOrigin(CPolyhedronPtr &poly) const;
193  /**
194  * Get a polyhedron containing the ending point of the cylinder (its "base").
195  * \sa getOrigin,mrpt::opengl::CPolyhedron
196  */
197  void getEnd(CPolyhedronPtr &poly) const;
198  /**
199  * Get the cylinder as a set of polygons in 3D.
200  * \sa mrpt::math::TPolygon3D
201  */
202  void generateSetOfPolygons(std::vector<mrpt::math::TPolygon3D> &res) const;
203  /**
204  * Get a polyhedron consisting of a set of closed sections of the cylinder.
205  * \sa mrpt::opengl::CPolyhedron
206  */
207  void getClosedSection(size_t index1,size_t index2,CPolyhedronPtr &poly) const;
208  /**
209  * Get a polyhedron consisting of a single section of the cylinder.
210  * \sa mrpt::opengl::CPolyhedron
211  */
212  inline void getClosedSection(size_t index,CPolyhedronPtr &poly) const {
213  getClosedSection(index,index,poly);
214  }
215  /**
216  * Get the number of sections in this cylinder.
217  */
218  inline size_t getNumberOfSections() const {
219  return axis.size()?(axis.size()-1):0;
220  }
221  /**
222  * Get how many visible sections are in the cylinder.
223  */
224  inline size_t getVisibleSections() const {
225  return fullyVisible?getNumberOfSections():(lastSection-firstSection);
226  }
227  /**
228  * Gets the cylinder's visible sections.
229  */
230  void getVisibleSections(size_t &first,size_t &last) const {
231  if (fullyVisible) {
232  first=0;
233  last=getNumberOfSections();
234  } else {
235  first=firstSection;
236  last=lastSection;
237  }
238  }
239  /**
240  * Sets all sections visible.
241  */
242  inline void setAllSectionsVisible() {
243  fullyVisible=true;
245  }
246  /**
247  * Hides all sections.
248  */
249  inline void setAllSectionsInvisible(size_t pointer=0) {
250  fullyVisible=false;
251  firstSection=pointer;
252  lastSection=pointer;
254  }
255  /**
256  * Sets which sections are visible.
257  * \throw std::logic_error on wrongly defined bounds.
258  */
259  inline void setVisibleSections(size_t first,size_t last) {
260  fullyVisible=false;
261  if (first>last||last>getNumberOfSections()) throw std::logic_error("Wrong bound definition");
262  firstSection=first;
263  lastSection=last;
265  }
266  /**
267  * Adds another visible section at the start of the cylinder. The cylinder must have an invisble section to display.
268  * \throw std::logic_error if there is no section to add to the displaying set.
269  * \sa addVisibleSectionAtEnd,removeVisibleSectionAtStart,removeVisibleSectionAtEnd
270  */
271  inline void addVisibleSectionAtStart() {
272  if (fullyVisible||firstSection==0) throw std::logic_error("No more sections");
273  firstSection--;
275  }
276  /**
277  * Adds another visible section at the end of the cylinder. The cylinder must have an invisible section to display.
278  * \throw std::logic_error if there is no section to add to the displaying set.
279  * \sa addVisibleSectionAtStart,removeVisibleSectionAtStart,removeVisibleSectionAtEnd
280  */
281  inline void addVisibleSectionAtEnd() {
282  if (fullyVisible||lastSection==getNumberOfSections()) throw std::logic_error("No more sections");
283  lastSection++;
285  }
286  /**
287  * Removes a visible section from the start of the currently visible set.
288  * \throw std::logic_error if there are no visible sections.
289  * \sa addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtEnd
290  */
291  void removeVisibleSectionAtStart();
292  /**
293  * Removes a visible section from the ending of the currently visible set.
294  * \throw std::logic_error when there is no such section.
295  * \sa addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtStart
296  */
297  void removeVisibleSectionAtEnd();
298  /**
299  * Gets the axis pose of the first section, returning false if there is no such pose.
300  */
301  bool getFirstSectionPose(mrpt::poses::CPose3D &p);
302  /**
303  * Gets the axis pose of the last section, returning false if there is no such pose.
304  */
305  bool getLastSectionPose(mrpt::poses::CPose3D &p);
306  /**
307  * Gets the axis pose of the first visible section, returning false if there is no such pose.
308  */
309  bool getFirstVisibleSectionPose(mrpt::poses::CPose3D &p);
310  /**
311  * Gets the axis pose of the last section, returning false if there is no such pose.
312  */
313  bool getLastVisibleSectionPose(mrpt::poses::CPose3D &p);
314  /**
315  * Updates the mutable set of polygons used in ray tracing.
316  */
317  void updatePolys() const;
318 
319  /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
320  void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
321 
322  private:
323  /**
324  * Updates the axis, transforming each point into a pose pointing to the next section.
325  */
326  void generatePoses(const std::vector<mrpt::math::TPoint3D> &pIn, mrpt::aligned_containers<mrpt::poses::CPose3D>::vector_t &pOut);
327  /**
328  * Updates the mutable mesh.
329  */
330  void updateMesh() const;
331  /**
332  * Given a vector of polyhedrons, gets the starting and ending iterators to the section to be actually rendered.
333  */
334  void getMeshIterators(const std::vector<TQuadrilateral> &m,std::vector<TQuadrilateral>::const_iterator &begin,std::vector<TQuadrilateral>::const_iterator &end) const;
335  /**
336  * Basic constructor with default initialization.
337  */
338  CGeneralizedCylinder():axis(),generatrix(),mesh(),meshUpToDate(false),polysUpToDate(false),closed(false),fullyVisible(true) {}
339  /**
340  * Constructor with axis and generatrix.
341  */
342  CGeneralizedCylinder(const std::vector<mrpt::math::TPoint3D> &a,const std::vector<mrpt::math::TPoint3D> &g):generatrix(g),mesh(),meshUpToDate(false),polysUpToDate(false),closed(false),fullyVisible(true) {
343  generatePoses(a,axis);
344  }
345  /**
346  * Destructor.
347  */
348  virtual ~CGeneralizedCylinder() {};
349  };
351 }
352 }
353 #endif
GLboolean GLboolean GLboolean GLboolean a
Definition: glew.h:5406
void setAllSectionsVisible()
Sets all sections visible.
void getGeneratrix(std::vector< mrpt::math::TPoint3D > &g) const
Get cylinder's profile.
GLboolean GLboolean g
Definition: glew.h:5406
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void setClosed(bool c=true)
Set whether each section is a closed polygon or not.
bool BASE_IMPEXP traceRay(const std::vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
Definition: geometry.cpp:1996
const GLfloat * c
Definition: glew.h:10088
bool fullyVisible
Flag to determine whether the object is fully visible or only some sections are.
EIGEN_STRONG_INLINE iterator begin()
Definition: eigen_plugins.h:26
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
void addVisibleSectionAtStart()
Adds another visible section at the start of the cylinder.
std::vector< TQuadrilateral > mesh
Mutable object with mesh information, used to avoid repeated computations.
const Scalar * const_iterator
Definition: eigen_plugins.h:24
bool meshUpToDate
Mutable flag which tells if recalculations are needed.
CGeneralizedCylinder(const std::vector< mrpt::math::TPoint3D > &a, const std::vector< mrpt::math::TPoint3D > &g)
Constructor with axis and generatrix.
A renderizable object suitable for rendering with OpenGL's display lists.
size_t getVisibleSections() const
Get how many visible sections are in the cylinder.
GLuint GLenum GLsizei GLsizei GLboolean void * points
Definition: glew.h:7748
bool closed
Boolean variable which determines if the profile is closed at each section.
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
GLuint GLuint end
Definition: glew.h:1167
void setVisibleSections(size_t first, size_t last)
Sets which sections are visible.
void setGeneratrix(const std::vector< mrpt::math::TPoint3D > &g)
Set cylinder's profile.
size_t getNumberOfSections() const
Get the number of sections in this cylinder.
void setAllSectionsInvisible(size_t pointer=0)
Hides all sections.
GLfloat GLfloat p
Definition: glew.h:10113
mrpt::math::CMatrixTemplate< mrpt::math::TPoint3D > pointsMesh
Mutable object with the cylinder's points, used to avoid repeated computations.
GLint * first
Definition: glew.h:1433
std::vector< mrpt::math::TPolygonWithPlane > polys
Mutable set of data used in ray tracing.
bool polysUpToDate
Mutable flag telling whether ray tracing temporary data must be recalculated or not.
void setAxis(const std::vector< mrpt::math::TPoint3D > &a)
Set the axis points.
GLuint res
Definition: glew.h:7143
class OPENGL_IMPEXP CGeneralizedCylinder
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
size_t lastSection
Last visible section, if fullyVisible is set to false.
void getClosedSection(size_t index, CPolyhedronPtr &poly) const
Get a polyhedron consisting of a single section of the cylinder.
GLuint index
Definition: glew.h:1721
This object represents any figure obtained by extruding any profile along a given axis...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
std::vector< mrpt::math::TPoint3D > generatrix
Object's generatrix, that is, profile which will be extruded.
GLsizei const GLvoid * pointer
Definition: glew.h:1428
TQuadrilateral(const T(&p)[4])
Construction from any array of four compatible objects.
const GLdouble * m
Definition: glew.h:5094
bool isClosed() const
Returns true if each section is a closed polygon.
void getAxis(mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t &a) const
Get axis, including angular coordinates.
void getAsPolygonUnsafe(mrpt::math::TPolygon3D &vec) const
Given a polygon with 4 already positions allocated, this method fills it with the quadrilateral point...
mrpt::aligned_containers< mrpt::poses::CPose3D >::vector_t axis
Cylinder's axis.
CGeneralizedCylinder()
Basic constructor with default initialization.
Lightweight 3D point.
TQuadrilateral(const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p3, const mrpt::math::TPoint3D &p4)
Constructor from 4 points.
Auxiliary struct holding any quadrilateral, represented by foour points.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
void addVisibleSectionAtEnd()
Adds another visible section at the end of the cylinder.
std::vector< TYPE1, Eigen::aligned_allocator< TYPE1 > > vector_t
3D polygon, inheriting from std::vector<TPoint3D>
size_t firstSection
First visible section, if fullyVisible is set to false.
void getVisibleSections(size_t &first, size_t &last) const
Gets the cylinder's visible sections.



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