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COpenGLStandardObject.cpp
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 
10 #include "opengl-precomp.h" // Precompiled header
11 
13 #include <mrpt/utils/CStream.h>
15 #include "opengl_internals.h"
16 
17 using namespace mrpt;
18 using namespace mrpt::opengl;
19 using namespace mrpt::math;
20 using namespace mrpt::poses;
21 using namespace mrpt::utils;
22 
24 
25 #define COMPILE_TIME_ASSERT(N,expr) \
26  char dummy_constraint##N[expr]
27 
28 #if MRPT_HAS_OPENGL_GLUT
29 COMPILE_TIME_ASSERT(GLENUM,sizeof(GLenum)==sizeof(_GLENUM));
30 #endif
31 
32 COpenGLStandardObjectPtr COpenGLStandardObject::Create(_GLENUM t,const std::vector<TPoint3D> &v,uint32_t cs,const std::vector<_GLENUM> &en)
33 {
34  if (cs!=0&&v.size()%cs!=0) throw std::logic_error("Vertices vector does not match chunk size");
35  return COpenGLStandardObjectPtr(new COpenGLStandardObject(t,v,cs,en));
36 }
37 
38 /*---------------------------------------------------------------
39  render
40  ---------------------------------------------------------------*/
42 #if MRPT_HAS_OPENGL_GLUT
43  glVertex3f(p.x,p.y,p.z);
44 #else
46 #endif
47 }
48 
50 #if MRPT_HAS_OPENGL_GLUT
51  for_each(enabled.begin(),enabled.end(),glEnable);
53  //This line won't take any effect if GL_BLEND is not enabled, so it's safe to always execute it.
55  glColor4ub(m_color.R,m_color.G,m_color.B,m_color.A);
56  if (normal[0]||normal[1]||normal[2]) glNormal3f(normal[0],normal[1],normal[2]);
57  if (chunkSize==0) {
58  glBegin(type);
59  for_each(vertices.begin(),vertices.end(),renderFunc);
60  glEnd();
61  } else {
62  std::vector<TPoint3D>::const_iterator it=vertices.begin();
63  do {
64  glBegin(type);
65  for_each(it,it+chunkSize,renderFunc);
66  it+=chunkSize;
67  glEnd();
68  } while (it!=vertices.end());
69  }
70  for_each(enabled.begin(),enabled.end(),glDisable);
71 #endif
72 }
73 /*---------------------------------------------------------------
74  Implements the writing to a CStream capability of
75  CSerializable objects
76  ---------------------------------------------------------------*/
78  if (version) *version=1;
79  else {
80  writeToStreamRender(out);
81  out<< type <<vertices<<chunkSize<<enabled;
82  }
83 }
84 
85 /*---------------------------------------------------------------
86  Implements the reading from a CStream capability of
87  CSerializable objects
88  ---------------------------------------------------------------*/
90  switch (version) {
91  case 1: {
92  readFromStreamRender(in);
93  in>>type>>vertices>>chunkSize>>enabled;
94  }
95  break;
96  default:
98  };
100 }
101 
102 bool COpenGLStandardObject::traceRay(const mrpt::poses::CPose3D &o,double &dist) const {
104  //This object isn't intended to hold geometric properties. No trace ray should be performed on it.
105  return false;
106 }
107 
108 
110 {
111  bb_min.x = 0;
112  bb_min.y = 0;
113  bb_min.z = 0;
114 
115  bb_max.x = 0;
116  bb_max.y = 0;
117  bb_max.z = 0;
118 
119  // Convert to coordinates of my parent:
120  m_pose.composePoint(bb_min, bb_min);
121  m_pose.composePoint(bb_max, bb_max);
122 }
123 
124 
126 {
127  std::vector<_GLENUM>::iterator it = enabled.begin();
128  while (it!=enabled.end())
129  {
130  if (*it==flag)
131  it = enabled.erase(it);
132  else ++it;
133  }
135 }
const GLdouble * v
Definition: glew.h:1296
GLAPI void GLAPIENTRY glEnable(GLenum cap)
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
#define COMPILE_TIME_ASSERT(N, expr)
GLAPI void GLAPIENTRY glNormal3f(GLfloat nx, GLfloat ny, GLfloat nz)
bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
Ray Tracing.
Scalar * iterator
Definition: eigen_plugins.h:23
GLdouble GLdouble t
Definition: glew.h:1303
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
const Scalar * const_iterator
Definition: eigen_plugins.h:24
#define GL_ONE_MINUS_SRC_ALPHA
Definition: glew.h:283
double z
X,Y,Z coordinates.
#define GL_SMOOTH
Definition: glew.h:631
void readFromStream(mrpt::utils::CStream &in, int version)
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly...
GLAPI void GLAPIENTRY glShadeModel(GLenum mode)
virtual void render_dl() const MRPT_OVERRIDE
Render.
unsigned int GLenum
Definition: glew.h:202
GLuint in
Definition: glew.h:7146
GLAPI void GLAPIENTRY glBlendFunc(GLenum sfactor, GLenum dfactor)
A renderizable object suitable for rendering with OpenGL's display lists.
static COpenGLStandardObjectPtr Create()
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
Definition: CStream.h:38
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
int version
Definition: mrpt_jpeglib.h:898
GLAPI void GLAPIENTRY glBegin(GLenum mode)
GLfloat GLfloat p
Definition: glew.h:10113
GLAPI void GLAPIENTRY glVertex3f(GLfloat x, GLfloat y, GLfloat z)
GLAPI void GLAPIENTRY glColor4ub(GLubyte red, GLubyte green, GLubyte blue, GLubyte alpha)
void disable(_GLENUM flag)
Disable some openGL flag.
#define GL_SRC_ALPHA
Definition: glew.h:282
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
GLAPI void GLAPIENTRY glEnd(void)
Objects of this class represent a generic openGL object without specific geometric properties...
GLuint GLuint GLsizei GLenum type
Definition: glew.h:1167
Lightweight 3D point.
unsigned __int32 uint32_t
Definition: rptypes.h:49
GLAPI void GLAPIENTRY glDisable(GLenum cap)
void renderFunc(TPoint3D p)
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
void writeToStream(mrpt::utils::CStream &out, int *getVersion) const
Introduces a pure virtual method responsible for writing to a CStream.



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