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gl_utils.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_glutils_H
10 #define opengl_glutils_H
11 
12 #include <mrpt/utils/utils_defs.h>
14 
15 #ifndef opengl_CRenderizable_H
17 #endif
18 
20 
21 namespace mrpt
22 {
23  namespace opengl
24  {
25  /** A set of auxiliary functions that can be called to render OpenGL primitives from MRPT or user code
26  * \ingroup mrpt_opengl_grp
27  */
28  namespace gl_utils
29  {
30 
31  /** @name Data types for mrpt::opengl::gl_utils
32  @{ */
33 
34  /** Information about the rendering process being issued. \sa See getCurrentRenderingInfo for more details */
36  {
37  int vp_x, vp_y, vp_width, vp_height; //!< Rendering viewport geometry (in pixels)
38  Eigen::Matrix<float,4,4,Eigen::ColMajor> proj_matrix; //!< The 4x4 projection matrix
39  Eigen::Matrix<float,4,4,Eigen::ColMajor> model_matrix; //!< The 4x4 model transformation matrix
40  Eigen::Matrix<float,4,4,Eigen::ColMajor> full_matrix; //!< PROJ * MODEL
41  mrpt::math::TPoint3Df camera_position; //!< The 3D location of the camera
42 
43  /** Computes the normalized coordinates (range=[0,1]) on the current rendering viewport of a
44  * point with local coordinates (wrt to the current model matrix) of (x,y,z).
45  * The output proj_z_depth is the real distance from the eye to the point.
46  */
47  void projectPoint(float x,float y,float z, float &proj_x, float &proj_y, float &proj_z_depth) const
48  {
49  const Eigen::Matrix<float,4,1,Eigen::ColMajor> proj = full_matrix * Eigen::Matrix<float,4,1,Eigen::ColMajor>(x,y,z,1);
50  proj_x = proj[3] ? proj[0]/proj[3] : 0;
51  proj_y = proj[3] ? proj[1]/proj[3] : 0;
52  proj_z_depth = proj[2];
53  }
54 
55  /** Exactly like projectPoint but the (x,y) projected coordinates are given in pixels instead of normalized coordinates. */
56  void projectPointPixels(float x,float y,float z, float &proj_x_px, float &proj_y_px, float &proj_z_depth) const
57  {
58  projectPoint(x,y,z,proj_x_px,proj_y_px,proj_z_depth);
59  proj_x_px = (proj_x_px+1.0f)*(vp_width/2.0f);
60  proj_y_px = (proj_y_px+1.0f)*(vp_height/2.0f);
61  }
62  };
63 
64  /** @} */ // -----------------------------------------------------
65 
66 
67  /** @name Miscellaneous rendering methods
68  @{ */
69 
70  /** For each object in the list:
71  * - checks visibility of each object
72  * - prepare the GL_MODELVIEW matrix according to its coordinates
73  * - call its ::render()
74  * - shows its name (if enabled).
75  *
76  * \note Used by COpenGLViewport, CSetOfObjects
77  */
79 
80  /** Checks glGetError and throws an exception if an error situation is found */
82 
83  /** Can be used by derived classes to draw a triangle with a normal vector computed automatically - to be called within a glBegin()-glEnd() block. */
86 
87  /** Can be used by derived classes to draw a quad with a normal vector computed automatically - to be called within a glBegin()-glEnd() block. */
89 
90 
91  /** Gather useful information on the render parameters.
92  * It can be called from within the render() method of CRenderizable-derived classes, and
93  * the returned matrices can be used to determine whether a given point (lx,ly,lz)
94  * in local coordinates wrt the object being rendered falls within the screen or not:
95  * \code
96  * TRenderInfo ri;
97  * getCurrentRenderingInfo(ri);
98  * Eigen::Matrix<float,4,4> M= ri.proj_matrix * ri.model_matrix * HomogeneousMatrix(lx,ly,lz);
99  * const float rend_x = M(0,3)/M(3,3);
100  * const float rend_y = M(1,3)/M(3,3);
101  * \endcode
102  * where (rend_x,rend_y) are both in the range [-1,1].
103  */
104  void OPENGL_IMPEXP getCurrentRenderingInfo(TRenderInfo &ri);
105 
106 
107  /** Draws a message box with a centered (possibly multi-lined) text.
108  * It consists of a filled rectangle with a frame around and the centered text in the middle.
109  *
110  * The appearance of the box is highly configurable via parameters.
111  *
112  * \param[in] msg_x, msg_y The left-lower corner coordinates, in ratio [0,1] of the viewport size. (0,0) if the left-bottom corner of the viewport.
113  * \param[in] msg_w, msg_h The width & height, in ratio [0,1] of the viewport size.
114  * \param[in] text The text to display. Multiple lines can be drawn with the '\n' character.
115  * \param[in] text_scale Size of characters, in ration [0,1] of the viewport size. Note that this size may be scaled automatically reduced to fit the text withtin the rectangle of the message box.
116  * \param[in] back_col Color of the rectangle background. Alpha can be <255 to enable transparency.
117  * \param[in] border_col Color of the rectangle frame. Alpha can be <255 to enable transparency.
118  * \param[in] text_col Color of the text background. Alpha can be <255 to enable transparency.
119  * \param[in] border_width Width of the border, in pixels
120  * \param[in] text_font, text_style, text_spacing, text_kerning See mrpt::opengl::gl_utils::glDrawText()
121  *
122  * Example (see directory: 'samples/display3D_custom_render'):
123  *
124  * <img src="gl_utils_message_box.jpg" >
125  */
127  const float msg_x, const float msg_y,
128  const float msg_w, const float msg_h,
129  const std::string &text,
130  float text_scale,
131  const mrpt::utils::TColor &back_col = mrpt::utils::TColor(0,0,50, 150),
132  const mrpt::utils::TColor &border_col = mrpt::utils::TColor(0,0,0, 140),
133  const mrpt::utils::TColor &text_col = mrpt::utils::TColor(255,255,255, 220),
134  const float border_width = 4.0f,
135  const std::string & text_font = std::string("sans"),
137  const double text_spacing = 1.5,
138  const double text_kerning = 0.1
139  );
140 
141  /** @} */ // -----------------------------------------------------
142 
143  /** @name OpenGL bitmapped 2D fonts
144  @{ */
145 
146  /** This method is safe for calling from within ::render() methods \sa renderTextBitmap */
147  void OPENGL_IMPEXP renderTextBitmap( const char *str, void *fontStyle );
148 
149  /** Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
150  * \sa renderTextBitmap
151  */
153  const std::string &str,
155 
156  /** @} */ // --------------------------------------------------
157 
158 
159  /** @name OpenGL vector 3D fonts
160  @{ */
161 
162  /// sets the font to use for future font rendering commands. currently "sans", "serif" and "mono" are available.
163  /// @param fontname string containing font name
164  void OPENGL_IMPEXP glSetFont( const std::string & fontname );
165 
166  /// returns the name of the currently active font
168 
169  /// renders a string in GL using the current settings.
170  /// Font coordinates are +X along the line and +Y along the up direction of glyphs.
171  /// The origin is at the top baseline at the left of the first character. Characters have a maximum size of 1.
172  /// linefeed is interpreted as a new line and the start is offset in -Y direction by @ref spacing . Individual characters
173  /// are separated by @ref kerning + plus their individual with.
174  /// @param text string to be rendered, unknown characters are replaced with '?'
175  /// @param textScale The size of the characters (default=1.0)
176  /// @param style rendering style
177  /// @param spacing distance between individual text lines
178  /// @param kerning distance between characters
179  /// \note This functions comes from libcvd (LGPL, http://www.edwardrosten.com/cvd/ )
180  mrpt::utils::TPixelCoordf OPENGL_IMPEXP glDrawText(const std::string & text, const double textScale, enum TOpenGLFontStyle style = NICE, double spacing = 1.5, double kerning = 0.1);
181 
182  /// returns the size of the bounding box of a text to be rendered, similar to @ref glDrawText but without any visual output
183  /// \note This functions comes from libcvd (LGPL, http://www.edwardrosten.com/cvd/ )
184  mrpt::utils::TPixelCoordf OPENGL_IMPEXP glGetExtends(const std::string & text, const double textScale, double spacing = 1.5, double kerning = 0.1);
185 
186  /** @} */ // --------------------------------------------------
187 
188  }
189  }
190 }
191 
192 #endif
void OPENGL_IMPEXP renderTextBitmap(const char *str, void *fontStyle)
This method is safe for calling from within ::render() methods.
Definition: gl_utils.cpp:238
A pair (x,y) of pixel coordinates (subpixel resolution).
Definition: TPixelCoord.h:21
mrpt::utils::TPixelCoordf OPENGL_IMPEXP glDrawText(const std::string &text, const double textScale, enum TOpenGLFontStyle style=NICE, double spacing=1.5, double kerning=0.1)
renders a string in GL using the current settings.
Definition: gl_utils.cpp:600
GLint GLint GLint GLint GLint GLint y
Definition: glew.h:1166
void OPENGL_IMPEXP renderTriangleWithNormal(const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2, const mrpt::math::TPoint3D &p3)
Can be used by derived classes to draw a triangle with a normal vector computed automatically - to be...
Definition: gl_utils.cpp:147
void OPENGL_IMPEXP renderMessageBox(const float msg_x, const float msg_y, const float msg_w, const float msg_h, const std::string &text, float text_scale, const mrpt::utils::TColor &back_col=mrpt::utils::TColor(0, 0, 50, 150), const mrpt::utils::TColor &border_col=mrpt::utils::TColor(0, 0, 0, 140), const mrpt::utils::TColor &text_col=mrpt::utils::TColor(255, 255, 255, 220), const float border_width=4.0f, const std::string &text_font=std::string("sans"), mrpt::opengl::TOpenGLFontStyle text_style=mrpt::opengl::FILL, const double text_spacing=1.5, const double text_kerning=0.1)
Draws a message box with a centered (possibly multi-lined) text.
Definition: gl_utils.cpp:358
void OPENGL_IMPEXP renderQuadWithNormal(const mrpt::math::TPoint3Df &p1, const mrpt::math::TPoint3Df &p2, const mrpt::math::TPoint3Df &p3, const mrpt::math::TPoint3Df &p4)
Can be used by derived classes to draw a quad with a normal vector computed automatically - to be cal...
Definition: gl_utils.cpp:187
const OPENGL_IMPEXP std::string & glGetFont()
returns the name of the currently active font
Definition: gl_utils.cpp:592
Eigen::Matrix< float, 4, 4, Eigen::ColMajor > proj_matrix
The 4x4 projection matrix.
Definition: gl_utils.h:38
void projectPointPixels(float x, float y, float z, float &proj_x_px, float &proj_y_px, float &proj_z_depth) const
Exactly like projectPoint but the (x,y) projected coordinates are given in pixels instead of normaliz...
Definition: gl_utils.h:56
std::deque< CRenderizablePtr > CListOpenGLObjects
A list of objects pointers, automatically managing memory free at destructor, and managing copies cor...
Definition: CRenderizable.h:33
void OPENGL_IMPEXP glSetFont(const std::string &fontname)
sets the font to use for future font rendering commands.
Definition: gl_utils.cpp:583
Eigen::Matrix< float, 4, 4, Eigen::ColMajor > full_matrix
PROJ * MODEL.
Definition: gl_utils.h:40
TOpenGLFont
Existing fonts for 2D texts in mrpt::opengl methods.
Definition: opengl_fonts.h:26
Lightweight 3D point (float version).
TOpenGLFontStyle
Different style for vectorized font rendering.
Definition: opengl_fonts.h:37
Information about the rendering process being issued.
Definition: gl_utils.h:35
GLint GLint GLint GLint GLint x
Definition: glew.h:1166
A RGB color - 8bit.
Definition: TColor.h:26
GLdouble GLdouble z
Definition: glew.h:1464
void projectPoint(float x, float y, float z, float &proj_x, float &proj_y, float &proj_z_depth) const
Computes the normalized coordinates (range=[0,1]) on the current rendering viewport of a point with l...
Definition: gl_utils.h:47
GLsizei const GLcharARB ** string
Definition: glew.h:3293
mrpt::utils::TPixelCoordf OPENGL_IMPEXP glGetExtends(const std::string &text, const double textScale, double spacing=1.5, double kerning=0.1)
returns the size of the bounding box of a text to be rendered, similar to glDrawText but without any ...
Definition: gl_utils.cpp:684
int OPENGL_IMPEXP textBitmapWidth(const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Definition: gl_utils.cpp:270
void OPENGL_IMPEXP checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
Definition: gl_utils.cpp:134
renders glyphs filled with antialiased outlines
Definition: opengl_fonts.h:40
void OPENGL_IMPEXP getCurrentRenderingInfo(TRenderInfo &ri)
Gather useful information on the render parameters.
Definition: gl_utils.cpp:197
Eigen::Matrix< float, 4, 4, Eigen::ColMajor > model_matrix
The 4x4 model transformation matrix.
Definition: gl_utils.h:39
Lightweight 3D point.
void OPENGL_IMPEXP renderSetOfObjects(const mrpt::opengl::CListOpenGLObjects &objs)
For each object in the list:
Definition: gl_utils.cpp:33
renders glyphs as filled polygons
Definition: opengl_fonts.h:38
GLdouble GLdouble GLdouble GLdouble GLdouble GLdouble f
Definition: glew.h:5092
mrpt::math::TPoint3Df camera_position
The 3D location of the camera.
Definition: gl_utils.h:41



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