COpenGLStandardObject.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/COpenGLStandardObject.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/stl_serialization.h>
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::poses;
using namespace mrpt::utils;
 
IMPLEMENTS_SERIALIZABLE(COpenGLStandardObject,CRenderizableDisplayList,mrpt::opengl)
 
#define COMPILE_TIME_ASSERT(N,expr)   \
        char dummy_constraint##N[expr]
 
#if MRPT_HAS_OPENGL_GLUT
COMPILE_TIME_ASSERT(GLENUM,sizeof(GLenum)==sizeof(_GLENUM));
#endif
 
COpenGLStandardObjectPtr COpenGLStandardObject::Create(_GLENUM t,const std::vector<TPoint3D> &v,uint32_t cs,const std::vector<_GLENUM> &en)     
{
        if (cs!=0&&v.size()%cs!=0) throw std::logic_error("Vertices vector does not match chunk size");
        return COpenGLStandardObjectPtr(new COpenGLStandardObject(t,v,cs,en));
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void renderFunc(TPoint3D p)     {
#if MRPT_HAS_OPENGL_GLUT
        glVertex3f(p.x,p.y,p.z);
#else
        MRPT_UNUSED_PARAM(p);
#endif
}
 
void COpenGLStandardObject::render_dl() const   {
#if MRPT_HAS_OPENGL_GLUT
        for_each(enabled.begin(),enabled.end(),glEnable);
        glShadeModel(GL_SMOOTH);
        //This line won't take any effect if GL_BLEND is not enabled, so it's safe to always execute it.
        glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
        glColor4ub(m_color.R,m_color.G,m_color.B,m_color.A);
        if (normal[0]||normal[1]||normal[2]) glNormal3f(normal[0],normal[1],normal[2]);
        if (chunkSize==0)       {
                glBegin(type);
                for_each(vertices.begin(),vertices.end(),renderFunc);
                glEnd();
        }       else    {
                std::vector<TPoint3D>::const_iterator it=vertices.begin();
                do      {
                        glBegin(type);
                        for_each(it,it+chunkSize,renderFunc);
                        it+=chunkSize;
                        glEnd();
                }       while (it!=vertices.end());
        }
        for_each(enabled.begin(),enabled.end(),glDisable);
#endif
}
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void COpenGLStandardObject::writeToStream(mrpt::utils::CStream &out,int *version) const {
        if (version) *version=1;
        else    {
                writeToStreamRender(out);
                out<< type <<vertices<<chunkSize<<enabled;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void COpenGLStandardObject::readFromStream(mrpt::utils::CStream &in,int version)        {
        switch (version)        {
                case 1: {
                                readFromStreamRender(in);
                                in>>type>>vertices>>chunkSize>>enabled;
                        }
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool COpenGLStandardObject::traceRay(const mrpt::poses::CPose3D &o,double &dist) const  {
        MRPT_UNUSED_PARAM(o); MRPT_UNUSED_PARAM(dist);
        //This object isn't intended to hold geometric properties. No trace ray should be performed on it.
        return false;
}
 
 
void COpenGLStandardObject::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = 0;
        bb_min.y = 0;
        bb_min.z = 0;
 
        bb_max.x = 0;
        bb_max.y = 0;
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}
 
 
void COpenGLStandardObject::disable(_GLENUM flag) 
{
        std::vector<_GLENUM>::iterator it = enabled.begin();
        while (it!=enabled.end())
        {
                if (*it==flag)
                                it = enabled.erase(it);
                else ++it;
        }
        CRenderizableDisplayList::notifyChange();
}