COpenGLStandardObject.h

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    |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_COpenGLStandardObject_H
#define opengl_COpenGLStandardObject_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/geometry.h>

namespace mrpt  {
        namespace opengl        {
                typedef uint32_t _GLENUM;

                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(COpenGLStandardObject,CRenderizableDisplayList, OPENGL_IMPEXP)
                /**
                  * Objects of this class represent a generic openGL object without specific geometric properties.
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP COpenGLStandardObject:public CRenderizableDisplayList       {
                        DEFINE_SERIALIZABLE(COpenGLStandardObject)
                protected:
                        /**
                          * OpenGL identifier of the object type.
                          */
                        _GLENUM type;
                        /**
                          * Set of points in which consists this object.
                          */
                        std::vector<mrpt::math::TPoint3D> vertices;
                        /**
                          * Granularity of the openGL elements. 3 for GL_TRIANGLES, 4 for GL_QUADS, and so on. Setting it to 0 will generate a single openGL object.
                          */
                        uint32_t chunkSize;
                        /**
                          * Set of openGL properties enabled in the rendering of this object.
                          */
                        std::vector<_GLENUM> enabled;
                        float normal[3];
                public:
                        /**
                          * Render.
                          * \sa mrpt::opengl::CRenderizable
                          */
                        virtual void render_dl() const MRPT_OVERRIDE;
                        /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
                        void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;
                        /**
                          * Ray Tracing. Will always return false, since objects of this class are not intended to have geometric properties.
                          * \sa mrpt::opengl::CRenderizable
                          */
                        bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
                        /**
                          * Creation of object from type, vertices, chunk size and a list of enabled openGL flags.
                          * \throw std::logic_error if the number of vertices is not an exact multiple of the chunk size.
                          */
                        static COpenGLStandardObjectPtr Create(_GLENUM t,const std::vector<mrpt::math::TPoint3D> &v,uint32_t cs=0,const std::vector<_GLENUM> &en=std::vector<_GLENUM>());

                        /**
                          * Enable some openGL flag.
                          */
                        inline void enable(_GLENUM flag)        {
                                if (find(enabled.begin(),enabled.end(),flag)==enabled.end()) enabled.push_back(flag);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Disable some openGL flag.
                          */
                        void disable(_GLENUM flag);
                        /**
                          * Check whether an openGL will be enabled during the rendering of this object.
                          */
                        inline bool isEnabled(_GLENUM flag) const       {
                                return find(enabled.begin(),enabled.end(),flag)!=enabled.end();
                        }
                        /**
                          * Get a list of all currently enabled openGL flags.
                          */
                        inline void getEnabledFlags(std::vector<_GLENUM> &v) const      {
                                v=enabled;
                        }
                        /**
                          * Set the list of all openGL flags.
                          */
                        inline void setFlags(const std::vector<_GLENUM> &v)     {
                                enabled=v;
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Set the normal vector to this object.
                          */
                        inline void setNormal(const float (&n)[3])      {
                                for (size_t i=0;i<3;i++) normal[i]=n[i];
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Gets the normal vector to this object.
                          */
                        inline void getNormal(float (&n)[3]) const      {
                                for (size_t i=0;i<3;i++) n[i]=normal[i];
                        }
                private:
                        /**
                          * Constructor with all the information.
                          */
                        COpenGLStandardObject(_GLENUM t,const std::vector<mrpt::math::TPoint3D> &v,uint32_t cs,const std::vector<_GLENUM> &en):type(t),vertices(v),chunkSize(cs),enabled(en)    {
                                for (size_t i=0;i<3;i++) normal[i]=0.0;
                        }
                        /**
                          * Baic empty constructor, initializes to default.
                          */
                        COpenGLStandardObject():type(0),vertices(std::vector<mrpt::math::TPoint3D>(0)),chunkSize(0),enabled(std::vector<_GLENUM>())     {
                                for (size_t i=0;i<3;i++) normal[i]=0.0;
                        }
                        /**
                          * Destructor.
                          */
                        virtual ~COpenGLStandardObject()        {}
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(COpenGLStandardObject,CRenderizableDisplayList, OPENGL_IMPEXP)
        } // end namespace
} // End of namespace
#endif