CDisk.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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/CDisk.h>
#include <mrpt/utils/CStream.h>
 
#include "opengl_internals.h"
 
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using mrpt::poses::CPose3D;
using namespace std;
 
 
 
IMPLEMENTS_SERIALIZABLE( CDisk, CRenderizableDisplayList, mrpt::opengl )
 
CDiskPtr CDisk::Create(float radiusOut,float radiusIn,uint32_t slices,uint32_t loops)   
{
        return CDiskPtr(new CDisk(radiusOut,radiusIn,slices,loops));
}
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void   CDisk::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        glEnable (GL_BLEND);
        checkOpenGLError();
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        checkOpenGLError();
 
        GLUquadricObj   *obj = gluNewQuadric();
 
        gluDisk(
                obj,
                m_radiusIn,
                m_radiusOut,
                m_nSlices,
                m_nLoops );
 
        gluDeleteQuadric(obj);
 
        glDisable(GL_BLEND);
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CDisk::writeToStream(mrpt::utils::CStream &out,int *version) const
{
 
        if (version)
                *version = 0;
        else
        {
                writeToStreamRender(out);
                out << m_radiusIn << m_radiusOut;
                out << m_nSlices << m_nLoops;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CDisk::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        readFromStreamRender(in);
                        in >> m_radiusIn >> m_radiusOut;
                        in >> m_nSlices;
                        in >> m_nLoops;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
 
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool CDisk::traceRay(const mrpt::poses::CPose3D &o,double &dist) const  {
        //The disk is contained initially in a plane which contains (0,0,0), (1,0,0) and (0,1,0)
        //These points are converted into:
        //(x,y,z)
        //( cos(w)*cos(p)+x, sin(w)*cos(p)*y, -sin(p)+z )
        //( -sin(w)*cos(r)+cos(w)*sin(p)*sin(r)+x, cos(w)*cos(r)+sin(w)*sin(p)*sin(r)+y, cos(p)*sin(r)*z )
        CPose3D transf=this->m_pose-o;
        double x=transf.x(),y=transf.y(),z=transf.z(),w=transf.yaw(),p=transf.pitch(),r=transf.roll();
        double coef=sin(w)*sin(r)+cos(w)*sin(p)*cos(r);
        //coef is the first component of the normal to the transformed Z plane. So, the scalar product between
        //this normal and (1,0,0) (which happens to be the beam's vector) equals coef. And if it's 0, then both
        //are orthogonal, that is, the beam is parallel to the plane.
        if (coef==0) return false;
        //The following expression yields the collision point between the plane and the beam (the y and z
        //coordinates are zero).
        dist=x+(y*(sin(p)*sin(w)*cos(r)-cos(w)*sin(r))+z*cos(p)*cos(r))/coef;
        if (dist<0) return false;
        //Euclidean distance is invariant to rotations...
        double d2=(x-dist)*(x-dist)+y*y+z*z;
        return d2>=(m_radiusIn*m_radiusIn)&&d2<=(m_radiusOut*m_radiusOut);
 
        //IMPORTANT NOTICE: using geometric intersection between Z plane and CPose's line intersection is SLOWER than the used method.
}
 
void CDisk::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = -std::max(m_radiusIn, m_radiusOut);
        bb_min.y = bb_min.x;
        bb_min.z = 0;
 
        bb_max.x = std::max(m_radiusIn, m_radiusOut);
        bb_max.y = bb_max.x;
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}