CCamera.cpp

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/* +---------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)               |
   |                          http://www.mrpt.org/                             |
   |                                                                           |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file        |
   | See: http://www.mrpt.org/Authors - All rights reserved.                   |
   | Released under BSD License. See details in http://www.mrpt.org/License    |
   +---------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CCamera.h>
#include <mrpt/utils/CStream.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE( CCamera, CRenderizable, mrpt::opengl )


/*--------------------------------------------------------------
                                        CCamera
  ---------------------------------------------------------------*/
CCamera::CCamera()      :
        m_pointingX(0),m_pointingY(0),m_pointingZ(0),
        m_distanceZoom(10),
        m_azimuthDeg(45),m_elevationDeg(45),
        m_projectiveModel(true),
        m_projectiveFOVdeg(30),
        m_6DOFMode(false)
{
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CCamera::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 1;
        else
        {
                // Save data:
                out << m_pointingX << m_pointingY << m_pointingZ
                        << m_distanceZoom
                        << m_azimuthDeg << m_elevationDeg
                        << m_projectiveModel << m_projectiveFOVdeg;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CCamera::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 1:
                {
                        // Load data:
                        in  >> m_pointingX >> m_pointingY >> m_pointingZ
                                >> m_distanceZoom
                                >> m_azimuthDeg >> m_elevationDeg
                >> m_projectiveModel >> m_projectiveFOVdeg;
                }
                break;
        case 0:
                {
                        in  >> m_pointingX >> m_pointingY >> m_pointingZ
                                >> m_distanceZoom
                                >> m_azimuthDeg >> m_elevationDeg;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
}


/** In this class, returns a fixed box (max,max,max), (-max,-max,-max). */
void CCamera::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min = mrpt::math::TPoint3D(std::numeric_limits<double>::max(),std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
        bb_max = mrpt::math::TPoint3D(-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max());
}