CSetOfLines.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/CSetOfLines.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::utils;
using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE( CSetOfLines, CRenderizableDisplayList, mrpt::opengl )

CSetOfLinesPtr CSetOfLines::Create(const std::vector<TSegment3D> &sgms, const bool antiAliasing)
{
        return CSetOfLinesPtr(new CSetOfLines(sgms,antiAliasing));
}
/** Constructor */
CSetOfLines::CSetOfLines()
        : mSegments(),mLineWidth(1.0),m_antiAliasing(true), m_verticesPointSize(.0f)
{
}

/** Constructor with a initial set of lines. */
CSetOfLines::CSetOfLines(const std::vector<TSegment3D> &sgms,bool antiAliasing)
        : mSegments(sgms),mLineWidth(1.0),m_antiAliasing(antiAliasing), m_verticesPointSize(.0f)
{
}

/*---------------------------------------------------------------
                                                        setLineByIndex
  ---------------------------------------------------------------*/
void CSetOfLines::setLineByIndex(size_t index,const mrpt::math::TSegment3D &segm)       {
        MRPT_START
        if (index>=mSegments.size()) THROW_EXCEPTION("Index out of bounds");
        CRenderizableDisplayList::notifyChange();
        mSegments[index]=segm;
        MRPT_END
}

float CSetOfLines::getVerticesPointSize() const 
{ 
        return m_verticesPointSize; 
}
void CSetOfLines::setVerticesPointSize(const float size_points) 
{
        m_verticesPointSize = size_points; 
        CRenderizableDisplayList::notifyChange();
}

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void   CSetOfLines::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT

        // Enable antialiasing:
        glPushAttrib( GL_COLOR_BUFFER_BIT | GL_LINE_BIT );
        if (m_antiAliasing || m_color.A != 255)
        {
                glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
        }
        if (m_antiAliasing)
                glEnable(GL_LINE_SMOOTH);
        glLineWidth(mLineWidth);
        checkOpenGLError();

        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin(GL_LINES);
        glColor4ub(m_color.R,m_color.G,m_color.B,m_color.A);
        for (std::vector<TSegment3D>::const_iterator it=mSegments.begin();it!=mSegments.end();++it)     {
                glVertex3d(it->point1.x,it->point1.y,it->point1.z);
                glVertex3d(it->point2.x,it->point2.y,it->point2.z);
        }
        glEnd();
        checkOpenGLError();

        // Draw vertices?
        if (m_verticesPointSize > 0)
        {
                glPointSize(m_verticesPointSize);
                if (m_antiAliasing)
                        glEnable(GL_POINT_SMOOTH);
                else    glDisable(GL_POINT_SMOOTH);

                glBegin(GL_POINTS);
                glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
                bool first = true;
                for (const auto &seg : mSegments)
                {
                        if (first) {
                                glVertex3d(seg.point1.x, seg.point1.y, seg.point1.z);
                                first = false;
                        }
                        glVertex3d(seg.point2.x, seg.point2.y, seg.point2.z);
                }

                glEnd();
        }

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

        // End of antialiasing:
        glPopAttrib();

#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CSetOfLines::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version) *version=4;
        else    {
                writeToStreamRender(out);
                out<<mSegments<<mLineWidth;
                out << m_antiAliasing; // Added in v3
                out << m_verticesPointSize; // v4
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CSetOfLines::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
        case 1:
                {
                        readFromStreamRender(in);
                        CVectorFloat x0,y0,z0,x1,y1,z1;
                        in>>x0>>y0>>z0>>x1>>y1>>z1;
                        if (version>=1) in>>mLineWidth;
                        else mLineWidth=1;
                        size_t N=x0.size();
                        mSegments.resize(N);
                        for (size_t i=0;i<N;i++)        {
                                mSegments[i][0][0]=x0[i];
                                mSegments[i][0][1]=y0[i];
                                mSegments[i][0][2]=z0[i];
                                mSegments[i][1][0]=x1[i];
                                mSegments[i][1][1]=y1[i];
                                mSegments[i][1][2]=z1[i];
                        }
                }       break;
        case 2:
        case 3:
        case 4:
                {
                        readFromStreamRender(in);
                        in>>mSegments;
                        in>>mLineWidth;
                        if (version>=3)
                                in >> m_antiAliasing;
                        else m_antiAliasing = true;
                        if (version >= 4)
                                in >> m_verticesPointSize; 
                        else m_verticesPointSize = .0f;
                }
                break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
        CRenderizableDisplayList::notifyChange();
}

void CSetOfLines::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min = mrpt::math::TPoint3D(std::numeric_limits<double>::max(),std::numeric_limits<double>::max(), std::numeric_limits<double>::max());
        bb_max = mrpt::math::TPoint3D(-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max(),-std::numeric_limits<double>::max());

        for (size_t i=0;i<mSegments.size();i++)
        {
                const TSegment3D &s=mSegments[i];
                for (size_t p=0;p<2;p++)
                {
                        const TPoint3D &pt = s[p];
                        for (size_t j=0;j<3;j++)
                        {
                                keep_min(bb_min[j], pt[j]);
                                keep_max(bb_max[j], pt[j]);
                        }
                }
        }

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


void CSetOfLines::getLineByIndex(size_t index,double &x0,double &y0,double &z0,double &x1,double &y1,double &z1) const
{
        ASSERT_(index<mSegments.size())
        const mrpt::math::TPoint3D &p0 = mSegments[index].point1;
        const mrpt::math::TPoint3D &p1 = mSegments[index].point2;
        x0 = p0.x;
        y0 = p0.y;
        z0 = p0.z;
        x1 = p1.x;
        y1 = p1.y;
        z1 = p1.z;
}