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CTexturedPlane.h
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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 #ifndef opengl_CTexturedPlane_H
10 #define opengl_CTexturedPlane_H
11 
13 
14 namespace mrpt
15 {
16  namespace opengl
17  {
18 
19 
20  // This must be added to any CSerializable derived class:
21  DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CTexturedPlane, CTexturedObject, OPENGL_IMPEXP )
22 
23  /** A 2D plane in the XY plane with a texture image.
24  * \sa opengl::COpenGLScene
25  * \ingroup mrpt_opengl_grp
26  */
28  {
30  protected:
31  mutable float m_tex_x_min,m_tex_x_max;
32  mutable float m_tex_y_min,m_tex_y_max;
33 
34  float m_xMin, m_xMax;
35  float m_yMin, m_yMax;
36 
37  mutable bool polygonUpToDate;
38  mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly; //!< Used for ray-tracing
39  void updatePoly() const;
40  void unloadTexture();
41 
42  void render_texturedobj() const MRPT_OVERRIDE;
43 
44  public:
45  /** Set the texture coordinates of the four corners (in the range 0-1). */
46  void setTextureCornerCoords( float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
47  {
48  m_tex_x_min=tex_x_min;
49  m_tex_x_max=tex_x_max;
50  m_tex_y_min=tex_y_min;
51  m_tex_y_max=tex_y_max;
53  }
54 
55  /** Set the coordinates of the four corners that define the plane on the XY plane. */
56  void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
57  {
58  m_xMin = xMin; m_xMax = xMax;
59  m_yMin = yMin; m_yMax = yMax;
60  polygonUpToDate=false;
62  }
63 
64  /** Get the coordinates of the four corners that define the plane on the XY plane. */
65  inline void getPlaneCorners(float &xMin, float &xMax, float &yMin, float &yMax) const
66  {
67  xMin = m_xMin; xMax = m_xMax;
68  yMin = m_yMin; yMax = m_yMax;
69  }
70 
71  /** Class factory */
72  static CTexturedPlanePtr Create(float x_min, float x_max, float y_min, float y_max);
73 
74  virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
75  virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
76 
77  private:
78  /** Constructor
79  */
81  float x_min = -1,
82  float x_max = 1,
83  float y_min = -1,
84  float y_max = 1
85  );
86 
87  /** Private, virtual destructor: only can be deleted from smart pointers */
88  virtual ~CTexturedPlane();
89  };
90  DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CTexturedPlane, CTexturedObject, OPENGL_IMPEXP )
91 
92  } // end namespace
93 
94 } // End of namespace
95 
96 
97 #endif
A base class for all OpenGL objects with loadable textures.
#define MRPT_OVERRIDE
C++11 "override" for virtuals:
void getPlaneCorners(float &xMin, float &xMax, float &yMin, float &yMax) const
Get the coordinates of the four corners that define the plane on the XY plane.
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
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
A 2D plane in the XY plane with a texture image.
#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...
void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
Set the coordinates of the four corners that define the plane on the XY plane.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
Lightweight 3D point.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
static math::TPolygon3D tmpPoly(3)



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