CRenderizable.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/CRenderizable.h>          // Include these before windows.h!!
#include <mrpt/opengl/gl_utils.h>
#include <mrpt/synch/CCriticalSection.h>
#include <mrpt/utils/CStringList.h>
#include <mrpt/math/utils.h>
#include <mrpt/poses/CPoint3D.h>
#include <mrpt/poses/CPoint2D.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/CStream.h>
 
#include "opengl_internals.h"
 
using namespace std;
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::synch;
 
IMPLEMENTS_VIRTUAL_SERIALIZABLE( CRenderizable, CSerializable, mrpt::opengl )
 
#define MAX_GL_TEXTURE_IDS       0x10000
#define MAX_GL_TEXTURE_IDS_MASK  0x0FFFF
 
struct TOpenGLNameBooker
{
private:
        TOpenGLNameBooker() :
                freeTextureNames(MAX_GL_TEXTURE_IDS,false),
                next_free_texture(1),   // 0 is a reserved number!!
                cs()
        {
        }
 
public:
        std::vector<bool>               freeTextureNames;
        unsigned int                    next_free_texture;
        synch::CCriticalSectionRecursive        cs;
 
        static TOpenGLNameBooker & instance()
        {
                static TOpenGLNameBooker dat;
                return dat;
        }
};
 
// Default constructor:
CRenderizable::CRenderizable() :
        m_name(),
        m_show_name(false),
        m_color(255,255,255,255),
        m_pose(),
        m_scale_x(1), m_scale_y(1), m_scale_z(1),
        m_visible(true)
{
}
 
// Destructor:
CRenderizable::~CRenderizable()
{
}
 
 
 
/** Returns the lowest, free texture name.
  */
unsigned int CRenderizable::getNewTextureNumber()
{
        MRPT_START
 
        TOpenGLNameBooker &booker = TOpenGLNameBooker::instance();
 
        CCriticalSectionLocker lock ( &booker.cs );
 
        unsigned int ret = booker.next_free_texture;
        unsigned int tries = 0;
        while (ret!=0 && booker.freeTextureNames[ret])
        {
                ret++;
                ret = ret % MAX_GL_TEXTURE_IDS_MASK;
 
                if (++tries>=MAX_GL_TEXTURE_IDS)
                        THROW_EXCEPTION_FMT("Maximum number of textures (%u) excedeed! (are you deleting them?)", (unsigned int)MAX_GL_TEXTURE_IDS);
        }
 
        booker.freeTextureNames[ret] = true; // mark as used.
        booker.next_free_texture = ret+1;
        return ret;
        MRPT_END
}
 
void CRenderizable::releaseTextureName(unsigned int i)
{
        TOpenGLNameBooker &booker = TOpenGLNameBooker::instance();
        CCriticalSectionLocker lock ( &booker.cs );
        booker.freeTextureNames[i] = false;
        if (i<booker.next_free_texture) booker.next_free_texture = i;  // try to reuse texture numbers.
        // "glDeleteTextures" seems not to be neeeded, since we do the reservation of texture names by our own.
}
 
 
void  CRenderizable::writeToStreamRender(mrpt::utils::CStream &out) const
{
        // MRPT 0.9.5 svn 2774 (Dec 14th 2011):
        // Added support of versioning at this level of serialization too.
        // Should have been done from the beginning, terrible mistake on my part.
        // Now, the only solution is something as ugly as this:
        //
        // For reference: In the past this started as:
        // out << m_name << (float)(m_color.R) << (float)(m_color.G) << (float)(m_color.B) << (float)(m_color.A);
        // ...
 
        const uint8_t serialization_version = 0;   // can't be >31 (but it would be mad geting to that situation!)
 
        const bool all_scales_equal = (m_scale_x==m_scale_y && m_scale_z==m_scale_x);
        const bool all_scales_unity = (all_scales_equal && m_scale_x==1.0f);
 
        const uint8_t magic_signature[2] = {
                0xFF,
                // bit7: fixed to 1 to mark this new header format
                // bit6: whether the 3 scale{x,y,z} are equal to 1.0
                // bit5: whether the 3 scale{x,y,z} are equal to each other
                static_cast<uint8_t>( serialization_version | (all_scales_unity ? 0xC0 : (all_scales_equal ? 0xA0 : 0x80) ) )
        };
 
        out << magic_signature[0] << magic_signature[1];
 
        // "m_name"
        const uint16_t nameLen = static_cast<uint16_t>(m_name.size());
        out << nameLen;
        if (nameLen) out.WriteBuffer(m_name.c_str(),m_name.size());
 
        // Color, as u8:
        out << m_color.R << m_color.G << m_color.B << m_color.A;
 
        // the rest of fields:
        out << (float)m_pose.x() << (float)m_pose.y() << (float)m_pose.z()
                << (float)m_pose.yaw() << (float)m_pose.pitch() << (float)m_pose.roll();
 
        if (!all_scales_unity)
        {
                if (all_scales_equal)
                                out << m_scale_x;
                else    out << m_scale_x << m_scale_y << m_scale_z;
        }
 
        out  << m_show_name
                 << m_visible;
}
 
void  CRenderizable::readFromStreamRender(mrpt::utils::CStream &in)
{
        // MRPT 0.9.5 svn 2774 (Dec 14th 2011):
        // See comments in CRenderizable::writeToStreamRender() for the employed serialization mechanism.
        //
 
        // Read signature:
        union {
                uint8_t  magic_signature[2+2];  // (the extra 4 bytes will be used only for the old format)
                uint32_t magic_signature_uint32;  // So we can interpret the 4bytes above as a 32bit number cleanly.
        };
 
        in >> magic_signature[0] >> magic_signature[1];
 
        const bool is_new_format = (magic_signature[0]==0xFF) && ((magic_signature[1]&0x80)!=0);
 
        if (is_new_format)
        {
                // NEW FORMAT:
                uint8_t serialization_version = (magic_signature[1] & 0x1F);
                const bool all_scales_unity = ((magic_signature[1]&0x40)!=0);
                const bool all_scales_equal_but_not_unity = ((magic_signature[1]&0x20)!=0);
 
                switch(serialization_version)
                {
                case 0:
                        {
                        // "m_name"
                        uint16_t nameLen;
                        in >> nameLen;
                        m_name.resize(nameLen);
                        if (nameLen) in.ReadBuffer((void*)(&m_name[0]),m_name.size());
 
                        // Color, as u8:
                        in >> m_color.R >> m_color.G >> m_color.B >> m_color.A;
 
                        // the rest of fields:
                        float x,y,z,yaw,pitch,roll;
                        in >> x >> y >> z >> yaw >> pitch >> roll;
                        m_pose.x(x); m_pose.y(y); m_pose.z(z);
                        m_pose.setYawPitchRoll( yaw,pitch,roll );
 
                        if (all_scales_unity)
                                        m_scale_x=m_scale_y=m_scale_z=1;
                        else {
                                if (all_scales_equal_but_not_unity)
                                {
                                        in >> m_scale_x;
                                        m_scale_y = m_scale_z = m_scale_x;
                                }
                                else in >> m_scale_x >> m_scale_y >> m_scale_z;
                        }
 
                        in >> m_show_name
                           >> m_visible;
                        }
                        break;
                default:
                        THROW_EXCEPTION_FMT("Can't parse CRenderizable standard data field: corrupt data stream or format in a newer MRPT format? (serialization version=%u)",static_cast<unsigned int>(serialization_version))
                };
        }
        else
        {
                // OLD FORMAT:
                //Was: in >> m_name;
                // We already read 2 bytes from the string uint32_t length:
                in >> magic_signature[2] >> magic_signature[3];
                {
                        const uint32_t nameLen = magic_signature_uint32;  // *reinterpret_cast<const uint32_t*>(&magic_signature[0]);
                        m_name.resize(nameLen);
                        if (nameLen)
                                in.ReadBuffer((void*)(&m_name[0]),m_name.size());
                }
 
                float f;
                float yaw_deg,pitch_deg,roll_deg;
 
                mrpt::utils::TColorf col;
                in >> col.R >> col.G >> col.B >> col.A;
                m_color = mrpt::utils::TColor(col.R/255,col.G/255,col.B/255,col.A/255);  // For some stupid reason, colors were saved multiplied by 255... (facepalm)
 
                in >> f; m_pose.x(f);
                in >> f; m_pose.y(f);
                in >> f; m_pose.z(f);
                in >> yaw_deg;
                in >> pitch_deg;
                in >> f; roll_deg = f;
                // Version 2: Add scale vars:
                //  JL: Yes, this is a crappy hack since I forgot to enable versions here...what? :-P
                if (f!=16.0f && f!=17.0f)
                {
                        // Old version:
                        // "roll_deg" is the actual roll.
                        in >> m_show_name;
                        m_scale_x=m_scale_y=m_scale_z=1;        // Default values
                }
                else
                {
                        // New version >=v2:
                        in >> roll_deg;
                        in >> m_show_name;
 
                        // Scale data:
                        in >> m_scale_x >> m_scale_y >> m_scale_z;
 
                        if (f==17.0f)  // version>=v3
                                in >>m_visible;
                        else
                                m_visible = true; // Default
                }
 
                m_pose.setYawPitchRoll( DEG2RAD(yaw_deg),DEG2RAD(pitch_deg),DEG2RAD(roll_deg) );
        }
}
 
 
void  CRenderizable::checkOpenGLError()
{
        mrpt::opengl::gl_utils::checkOpenGLError();
}
 
/*--------------------------------------------------------------
                                        setPose
  ---------------------------------------------------------------*/
CRenderizable& CRenderizable::setPose( const mrpt::poses::CPose3D &o )
{
        m_pose = o;
        return *this;
}
CRenderizable& CRenderizable::setPose( const mrpt::poses::CPose2D &o )
{
        m_pose = mrpt::poses::CPose3D(o);
        return *this;
}
CRenderizable& CRenderizable::setPose( const mrpt::math::TPose3D &o )
{
        m_pose = mrpt::poses::CPose3D(o);
        return *this;
}
CRenderizable& CRenderizable::setPose( const mrpt::math::TPose2D &o )
{
        m_pose = mrpt::poses::CPose3D(o);
        return *this;
}
 
CRenderizable& CRenderizable::setPose( const mrpt::poses::CPoint3D &o ) //!< Set the 3D pose from a mrpt::poses::CPose3D object
{
        m_pose.setFromValues(o.x(), o.y(), o.z(),  0,0,0 );
        return *this;
}
CRenderizable& CRenderizable::setPose( const mrpt::poses::CPoint2D &o ) //!< Set the 3D pose from a mrpt::poses::CPose3D object
{
        m_pose.setFromValues(o.x(), o.y(),0,  0,0,0 );
        return *this;
}
 
 
/*--------------------------------------------------------------
                                        getPose
  ---------------------------------------------------------------*/
mrpt::math::TPose3D CRenderizable::getPose() const
{
        return mrpt::math::TPose3D(m_pose);
}
 
/*--------------------------------------------------------------
                                        traceRay
  ---------------------------------------------------------------*/
bool CRenderizable::traceRay(const mrpt::poses::CPose3D &o,double &dist) const  {
        MRPT_UNUSED_PARAM(o); MRPT_UNUSED_PARAM(dist);
        return false;
}
 
CRenderizablePtr &mrpt::opengl::operator<<(CRenderizablePtr &r,const mrpt::poses::CPose3D &p)   {
        r->setPose(p+mrpt::poses::CPose3D(r->getPose()));
        return r;
}
 
CRenderizable& CRenderizable::setColor_u8( const mrpt::utils::TColor &c)
{
        m_color.R = c.R;
        m_color.G = c.G;
        m_color.B = c.B;
        m_color.A = c.A;
        return *this;
}
 
 
 
/** This method is safe for calling from within ::render() methods \sa renderTextBitmap */
void CRenderizable::renderTextBitmap( const char *str, void *fontStyle )
{
        gl_utils::renderTextBitmap(str,fontStyle);
}
 
/** Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
  * \sa renderTextBitmap
  */
int CRenderizable::textBitmapWidth(
        const std::string &str,
        mrpt::opengl::TOpenGLFont font )
{
        return gl_utils::textBitmapWidth(str,font);
}