CFrustum.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/CFrustum.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/opengl/gl_utils.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(CFrustum,CRenderizableDisplayList,mrpt::opengl)

CFrustumPtr CFrustum::Create(float near_distance, float far_distance, float horz_FOV_degrees, float vert_FOV_degrees, float lineWidth, bool draw_lines, bool draw_planes)
{
        return CFrustumPtr(new CFrustum(near_distance,far_distance,horz_FOV_degrees,vert_FOV_degrees,lineWidth,draw_lines,draw_planes));
}

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CFrustum::render_dl() const        {
#if MRPT_HAS_OPENGL_GLUT
        if (m_color.A!=255 || (m_draw_planes && m_planes_color.A!=255) )
        {
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }
    else
    {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
    }

    // Compute the 8 corners of the frustum:
    TPoint3Df pts[8];
        for (int j=0;j<2;j++)
        {
        const float r = j==0 ? m_min_distance : m_max_distance;
        for (int i=0;i<4;i++)
                        pts[4*j+i].x = r;
                pts[4*j+0].y = -r*tan(m_fov_horz_left);
                pts[4*j+1].y = -r*tan(m_fov_horz_left);
                pts[4*j+2].y =  r*tan(m_fov_horz_right);
                pts[4*j+3].y =  r*tan(m_fov_horz_right);
                pts[4*j+0].z = -r*tan(m_fov_vert_down);
                pts[4*j+1].z =  r*tan(m_fov_vert_up);
                pts[4*j+2].z = -r*tan(m_fov_vert_down);
                pts[4*j+3].z =  r*tan(m_fov_vert_up);
    }

    // Render lines:
        if (m_draw_lines)
        {
                glDisable(GL_LIGHTING);  // Disable lights when drawing lines

                const int draw_path[] = {
                        0,1,3,2,0,4,6,2,
                        3,7,6,4,5,7,5,1 };

                // wireframe:
                glLineWidth(m_lineWidth); checkOpenGLError();
                glBegin(GL_LINE_STRIP);
                glColor4ub(m_color.R,m_color.G,m_color.B,m_color.A);

                for (size_t i=0;i<sizeof(draw_path)/sizeof(draw_path[0]);i++)
                        glVertex3fv(&pts[draw_path[i]].x);

                glEnd();

                glEnable(GL_LIGHTING);  // Disable lights when drawing lines
        }

        if (m_draw_planes)
        {
                // solid:
                glBegin(GL_TRIANGLES);
                glColor4ub(m_planes_color.R,m_planes_color.G,m_planes_color.B,m_planes_color.A);

                gl_utils::renderQuadWithNormal( pts[0], pts[2], pts[6], pts[4] );
                gl_utils::renderQuadWithNormal( pts[2], pts[3], pts[7], pts[6] );
                gl_utils::renderQuadWithNormal( pts[4], pts[6], pts[7], pts[5] );
                gl_utils::renderQuadWithNormal( pts[1], pts[5], pts[7], pts[3] );
                gl_utils::renderQuadWithNormal( pts[1], pts[5], pts[7], pts[3] );
                gl_utils::renderQuadWithNormal( pts[4], pts[5], pts[1], pts[0] );

                glEnd();
        }

        glDisable(GL_BLEND);

#endif
}

//Ctors
CFrustum::CFrustum():
        m_min_distance(0.1f),
        m_max_distance(1.f),
        m_fov_horz_left(mrpt::utils::DEG2RAD(45)),
        m_fov_horz_right(mrpt::utils::DEG2RAD(45)),
        m_fov_vert_down(mrpt::utils::DEG2RAD(30)),
        m_fov_vert_up(mrpt::utils::DEG2RAD(30)),
        m_draw_lines(true),
        m_draw_planes(false),
        m_lineWidth(1.5f),
        m_planes_color(0xE0,0x00,0x00, 0x50)  // RGBA
{
        keep_min( m_fov_horz_left, DEG2RAD(89.9f) ); keep_max(m_fov_horz_left, 0);
        keep_min( m_fov_horz_right, DEG2RAD(89.9f) ); keep_max(m_fov_horz_right, 0);
        keep_min( m_fov_vert_down, DEG2RAD(89.9f) ); keep_max(m_fov_vert_down, 0);
        keep_min( m_fov_vert_up, DEG2RAD(89.9f) ); keep_max(m_fov_vert_up, 0);
}

CFrustum::CFrustum(float near_distance, float far_distance, float horz_FOV_degrees, float vert_FOV_degrees, float lineWidth, bool draw_lines, bool draw_planes) :
        m_min_distance(near_distance),
        m_max_distance(far_distance),
        m_fov_horz_left(mrpt::utils::DEG2RAD(.5f*horz_FOV_degrees)),
        m_fov_horz_right(mrpt::utils::DEG2RAD(.5f*horz_FOV_degrees)),
        m_fov_vert_down(mrpt::utils::DEG2RAD(.5f*vert_FOV_degrees)),
        m_fov_vert_up(mrpt::utils::DEG2RAD(.5f*vert_FOV_degrees)),
        m_draw_lines(draw_lines),
        m_draw_planes(draw_planes),
        m_lineWidth(lineWidth),
        m_planes_color(0xE0,0x00,0x00, 0x50)  // RGBA
{
}


/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void CFrustum::writeToStream(mrpt::utils::CStream &out,int *version) const      {
        if (version) *version=0;
        else    {
                writeToStreamRender(out);
                //version 0
                out << m_min_distance << m_max_distance
                    << m_fov_horz_left << m_fov_horz_right
                    << m_fov_vert_down << m_fov_vert_up
                        << m_draw_lines << m_draw_planes
                    << m_lineWidth
                    << m_planes_color.R << m_planes_color.G << m_planes_color.B << m_planes_color.A;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CFrustum::readFromStream(mrpt::utils::CStream &in,int version)     {
        switch (version)        {
                case 0:
                        readFromStreamRender(in);
                        in  >> m_min_distance >> m_max_distance
                                >> m_fov_horz_left >> m_fov_horz_right
                                >> m_fov_vert_down >> m_fov_vert_up
                                >> m_draw_lines >> m_draw_planes
                                >> m_lineWidth
                                >> m_planes_color.R >> m_planes_color.G >> m_planes_color.B >> m_planes_color.A;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}


bool CFrustum::traceRay(const mrpt::poses::CPose3D &o,double &dist) const
{
        MRPT_UNUSED_PARAM(o); MRPT_UNUSED_PARAM(dist);
        THROW_EXCEPTION("TO DO")
}


// setters:
void CFrustum::setNearFarPlanes(const float near_distance, const float far_distance)
{
        m_min_distance = near_distance;
        m_max_distance = far_distance;
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setHorzFOV(const float fov_horz_degrees)
{
        m_fov_horz_right = m_fov_horz_left = 0.5f* mrpt::utils::DEG2RAD(fov_horz_degrees);
        keep_min( m_fov_horz_left, DEG2RAD(89.9f) ); keep_max(m_fov_horz_left, 0);
        keep_min( m_fov_horz_right, DEG2RAD(89.9f) ); keep_max(m_fov_horz_right, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setVertFOV(const float fov_vert_degrees)
{
        m_fov_vert_down=m_fov_vert_up = 0.5f*mrpt::utils::DEG2RAD(fov_vert_degrees);
        keep_min( m_fov_vert_down, DEG2RAD(89.9f) ); keep_max(m_fov_vert_down, 0);
        keep_min( m_fov_vert_up, DEG2RAD(89.9f) ); keep_max(m_fov_vert_up, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setHorzFOVAsymmetric(const float fov_horz_left_degrees,const float fov_horz_right_degrees)
{
        m_fov_horz_left= mrpt::utils::DEG2RAD(fov_horz_left_degrees);
        m_fov_horz_right = mrpt::utils::DEG2RAD(fov_horz_right_degrees);
        keep_min( m_fov_horz_left, DEG2RAD(89.9f) ); keep_max(m_fov_horz_left, 0);
        keep_min( m_fov_horz_right, DEG2RAD(89.9f) ); keep_max(m_fov_horz_right, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setVertFOVAsymmetric(const float fov_vert_down_degrees,const float fov_vert_up_degrees)
{
        m_fov_vert_down= mrpt::utils::DEG2RAD(fov_vert_down_degrees);
        m_fov_vert_up  = mrpt::utils::DEG2RAD(fov_vert_up_degrees);
        keep_min( m_fov_vert_down, DEG2RAD(89.9f) ); keep_max(m_fov_vert_down, 0);
        keep_min( m_fov_vert_up, DEG2RAD(89.9f) ); keep_max(m_fov_vert_up, 0);
        CRenderizableDisplayList::notifyChange();
}


void CFrustum::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
    // Compute the 8 corners of the frustum:
    TPoint3Df pts[8];
        for (int j=0;j<2;j++)
        {
        const float r = j==0 ? m_min_distance : m_max_distance;
        for (int i=0;i<4;i++)
                        pts[4*j+i].x = r;
                pts[4*j+0].y = -r*tan(m_fov_horz_left);
                pts[4*j+1].y = -r*tan(m_fov_horz_left);
                pts[4*j+2].y =  r*tan(m_fov_horz_right);
                pts[4*j+3].y =  r*tan(m_fov_horz_right);
                pts[4*j+0].z = -r*tan(m_fov_vert_down);
                pts[4*j+1].z =  r*tan(m_fov_vert_up);
                pts[4*j+2].z = -r*tan(m_fov_vert_down);
                pts[4*j+3].z =  r*tan(m_fov_vert_up);
    }

        bb_min = TPoint3D( std::numeric_limits<double>::max(), std::numeric_limits<double>::max(), std::numeric_limits<double>::max() );
        bb_max = TPoint3D(-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max() );
        for (int i=0;i<8;i++)
        {
                keep_min(bb_min.x, pts[i].x);
                keep_min(bb_min.y, pts[i].y);
                keep_min(bb_min.z, pts[i].z);

                keep_max(bb_max.x, pts[i].x);
                keep_max(bb_max.y, pts[i].y);
                keep_max(bb_max.z, pts[i].z);
        }

        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}