COpenGLScene.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/CRenderizable.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/utils/CStringList.h>
#include <mrpt/utils/metaprogramming.h>
#include <mrpt/utils/CStream.h>
 
#include <mrpt/utils/CFileGZOutputStream.h>
#include <mrpt/utils/CFileGZInputStream.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;
 
// Include libraries in linking:
#if MRPT_HAS_OPENGL_GLUT
        #ifdef MRPT_OS_WINDOWS
                // WINDOWS:
                #if defined(_MSC_VER) || defined(__BORLANDC__)
                        #pragma comment (lib,"opengl32.lib")
                        #pragma comment (lib,"GlU32.lib")
                #endif
        #endif  // MRPT_OS_WINDOWS
#endif // MRPT_HAS_OPENGL_GLUT
 
 
IMPLEMENTS_SERIALIZABLE( COpenGLScene, CRenderizableDisplayList, mrpt::opengl )
 
 
/*---------------------------------------------------------------
                                                Constructor
---------------------------------------------------------------*/
COpenGLScene::COpenGLScene( ) :
        m_followCamera(false)
{
        createViewport("main");
}
 
/*--------------------------------------------------------------
                                        Copy constructor
  ---------------------------------------------------------------*/
COpenGLScene::COpenGLScene( const COpenGLScene &obj ) :
        CSerializable()
{
        (*this) = obj;
}
 
/*---------------------------------------------------------------
                                                Destructor:
 ---------------------------------------------------------------*/
COpenGLScene::~COpenGLScene()
{
        clear(false);
}
 
/*---------------------------------------------------------------
                Clear the scene.
 ---------------------------------------------------------------*/
void  COpenGLScene::clear( bool createMainViewport  )
{
        m_viewports.clear();
 
        if (createMainViewport)
                createViewport("main");
}
 
/*---------------------------------------------------------------
                                                  =
 ---------------------------------------------------------------*/
COpenGLScene& COpenGLScene::operator =( const COpenGLScene &obj )
{
        if (this != &obj)
        {
                m_followCamera = obj.m_followCamera;
 
                clear();
                m_viewports = obj.m_viewports;
                for_each(m_viewports.begin(),m_viewports.end(), metaprogramming::ObjectMakeUnique() );
        }
        return *this;
}
 
/*---------------------------------------------------------------
                                                render
 ---------------------------------------------------------------*/
void  COpenGLScene::render() const
{
        MRPT_START
 
#if MRPT_HAS_OPENGL_GLUT
        // We need the size of the viewport at the beginning: should be the whole window:
        GLint   win_dims[4];
        glGetIntegerv( GL_VIEWPORT, win_dims );
 
        for (TListViewports::const_iterator it=m_viewports.begin();it!=m_viewports.end();++it)
                (*it)->render( win_dims[2],win_dims[3] );
 
        // Assure we restore the original viewport:
        glViewport( win_dims[0],win_dims[1],win_dims[2],win_dims[3] );
 
#else
        THROW_EXCEPTION("The MRPT has been compiled with MRPT_HAS_OPENGL_GLUT=0! OpenGL functions are not implemented");
#endif
        MRPT_END
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  COpenGLScene::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 1;
        else
        {
                out << m_followCamera;
 
                uint32_t        n;
                n = (uint32_t)m_viewports.size();
                out << n;
                for (TListViewports::const_iterator     it=m_viewports.begin();it!=m_viewports.end();++it)
                        out << **it;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  COpenGLScene::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        // Old style: Just one viewport:
                        clear(true);
                        COpenGLViewportPtr view = m_viewports[0];
 
                        // Load objects:
                        uint32_t        n;
                        in >> n;
 
                        view->clear();
                        view->m_objects.resize(n);
                        for_each(view->m_objects.begin(), view->m_objects.end(), metaprogramming::ObjectReadFromStream(&in) );
                }
                break;
        case 1:
                {
                        in >> m_followCamera;
 
                        uint32_t        i,n;
                        in >> n;
                        clear(false);
 
 
                        for (i=0;i<n;i++)
                        {
                                CSerializablePtr newObj;
                                in >> newObj;
 
                                COpenGLViewportPtr      newView = COpenGLViewportPtr(newObj);
                                newView->m_parent = this;
                                m_viewports.push_back( newView );
                        }
 
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
 
        };
}
 
/*---------------------------------------------------------------
                                                        insert
  ---------------------------------------------------------------*/
void COpenGLScene::insert( const CRenderizablePtr &newObject, const std::string &viewportName )
{
        MRPT_START
        for (TListViewports::iterator it = m_viewports.begin();it!= m_viewports.end();++it)
        {
                if ((*it)->m_name == viewportName )
                {
                        (*it)->insert(newObject);
                        return;
                }
        }
        THROW_EXCEPTION_FMT("Error: viewport '%s' not found.",viewportName.c_str());
        MRPT_END
}
 
/*---------------------------------------------------------------
                                                        getByName
  ---------------------------------------------------------------*/
CRenderizablePtr        COpenGLScene::getByName( const string &str, const string &viewportName )
{
        MRPT_UNUSED_PARAM(viewportName);
        CRenderizablePtr obj;
        for (TListViewports::iterator it=m_viewports.begin();it!=m_viewports.end();++it)
                if ( (obj = (*it)->getByName(str) ).present() )
                        break;
        return obj;
}
 
/*---------------------------------------------------------------
                                        initializeAllTextures
  ---------------------------------------------------------------*/
void  COpenGLScene::initializeAllTextures()
{
        for (TListViewports::iterator it=m_viewports.begin();it!=m_viewports.end();++it)
                (*it)->initializeAllTextures();
}
 
/*--------------------------------------------------------------
                                        dumpListOfObjects
  ---------------------------------------------------------------*/
void COpenGLScene::dumpListOfObjects( utils::CStringList  &lst )
{
        lst.clear();
 
        for (TListViewports::iterator   it=m_viewports.begin();it!=m_viewports.end();++it)
        {
                lst.add( string("VIEWPORT: ")+ (*it)->m_name );
                lst.add("============================================");
                (*it)->dumpListOfObjects(lst);
        }
}
 
 
 
/*--------------------------------------------------------------
                                        createViewport
  ---------------------------------------------------------------*/
COpenGLViewportPtr COpenGLScene::createViewport( const string &viewportName )
{
        MRPT_START
 
        COpenGLViewportPtr old = getViewport(viewportName);
        if (old)
                return old;
 
        COpenGLViewportPtr theNew = COpenGLViewportPtr( new COpenGLViewport(this, viewportName) );
        m_viewports.push_back(theNew);
        return  theNew;
 
        MRPT_END
}
 
/*--------------------------------------------------------------
                                        getViewport
  ---------------------------------------------------------------*/
COpenGLViewportPtr COpenGLScene::getViewport( const std::string &viewportName ) const
{
        MRPT_START
        for (TListViewports::const_iterator it = m_viewports.begin();it!=m_viewports.end();++it)
                if ( (*it)->m_name == viewportName)
                        return *it;
        return COpenGLViewportPtr();
        MRPT_END
}
 
 
/*--------------------------------------------------------------
                                        removeObject
  ---------------------------------------------------------------*/
void COpenGLScene::removeObject( const CRenderizablePtr &obj, const std::string &viewportName )
{
        MRPT_START
 
        COpenGLViewportPtr view = getViewport(viewportName);
        ASSERT_(view.present());
        view->removeObject(obj);
 
        MRPT_END
}
 
bool COpenGLScene::traceRay(const mrpt::poses::CPose3D &o,double &dist) const   {
        bool found=false;
        double tmp;
        for (TListViewports::const_iterator it=m_viewports.begin();it!=m_viewports.end();++it)  {
                const COpenGLViewportPtr &vp=*it;
                for (CListOpenGLObjects::const_iterator it2=vp->m_objects.begin();it2!=vp->m_objects.end();++it2) if ((*it2)->traceRay(o,tmp))  {
                        if (!found)     {
                                found=true;
                                dist=tmp;
                        }       else if (tmp<dist) dist=tmp;
                }
        }
        return found;
}
 
 
bool COpenGLScene::saveToFile(const std::string &fil) const
{
        try {
                CFileGZOutputStream(fil) << *this;
                return true;
        }
        catch (...)     { return false; }
}
 
bool COpenGLScene::loadFromFile(const std::string &fil)
{
        try {
                CFileGZInputStream(fil) >> *this;
                return true;
        }
        catch (...)     { return false; }
}
 
 
/** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
void COpenGLScene::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max,const std::string &vpn) const
{
        COpenGLViewportPtr vp = this->getViewport(vpn);
        ASSERTMSG_(vp.present(), "No opengl viewport exists with the given name")
 
        return vp->getBoundingBox(bb_min, bb_max);
}