CSetOfLines.h

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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    |
   +---------------------------------------------------------------------------+ */

#ifndef opengl_CSetOfLines_H
#define opengl_CSetOfLines_H

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

namespace mrpt
{
        namespace opengl
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSetOfLines, CRenderizableDisplayList, OPENGL_IMPEXP )

                /** A set of independent lines (or segments), one line with its own start and end positions (X,Y,Z).
                  * Optionally, the vertices can be also shown as dots.
                  *  \sa opengl::COpenGLScene
                  *
                  *  <div align="center">
                  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px; border-style: solid;">
                  *   <tr> <td> mrpt::opengl::CSetOfLines </td> <td> \image html preview_CSetOfLines.png </td> </tr>
                  *  </table>
                  *  </div>
                  *
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSetOfLines : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CSetOfLines )
                protected:
                        std::vector<mrpt::math::TSegment3D> mSegments;
                        float   mLineWidth;
                        bool    m_antiAliasing;
                        float   m_verticesPointSize; //!< 0: means hidden
                public:
                        /**
                          * Clear the list of segments
                          */
                        inline void clear()     {
                                mSegments.clear();
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Sets the width with which lines will be drawn.
                          */
                        inline void setLineWidth(float w) {
                                mLineWidth=w;
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Gets the width with which lines are drawn.
                          */
                        float getLineWidth() const {
                                return mLineWidth;
                        }
                        float getVerticesPointSize() const;
                        /** Enable showing vertices as dots if size_points>0 */
                        void setVerticesPointSize(const float size_points);
                        /**
                          * Appends a line to the set.
                          */
                        inline void appendLine(const mrpt::math::TSegment3D &sgm)       {
                                mSegments.push_back(sgm);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Appends a line to the set, given the coordinates of its bounds.
                          */
                        inline void appendLine(float x0,float y0,float z0,float x1,float y1,float z1)   {
                                appendLine(mrpt::math::TSegment3D(mrpt::math::TPoint3D(x0,y0,z0),mrpt::math::TPoint3D(x1,y1,z1)));
                                CRenderizableDisplayList::notifyChange();
                        }

                        /** Appends a line whose starting point is the end point of the last line (similar to OpenGL's GL_LINE_STRIP)
                          *  \exception std::exception If there is no previous segment */
                        inline void appendLineStrip(float x,float y,float z)    {
                                ASSERT_(!this->empty())
                                this->appendLine(this->rbegin()->point2, mrpt::math::TPoint3D(x,y,z));
                        }
                        //! \overload
                        template<class U>
                        inline void appendLineStrip(const U &point)     {
                                ASSERT_(!this->empty())
                                this->appendLine(this->rbegin()->point2,point);
                        }

                        /**
                          * Appends any iterable collection of lines to the set. Note that this includes another CSetOfLines.
                          * \sa appendLine
                          */
                        template<class T> inline void appendLines(const T &sgms)        {
                                mSegments.insert(mSegments.end(),sgms.begin(),sgms.end());
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Appends certain amount of lines, located between two iterators, into the set.
                          * \sa appendLine
                          */
                        template<class T_it> inline void appendLines(const T_it &begin,const T_it &end) {
                                mSegments.reserve(mSegments.size()+(end-begin));
                                mSegments.insert(mSegments.end(),begin,end);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Resizes the set.
                          * \sa reserve
                          */
                        void resize(size_t nLines)      {
                                mSegments.resize(nLines);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Reserves an amount of lines to the set. This method should be used when some known amount of lines is going to be inserted, so that only a memory allocation is needed.
                          * \sa resize
                          */
                        void reserve(size_t r)  {
                                mSegments.reserve(r);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Inserts a line, given its bounds. Works with any pair of objects with access to x, y and z members.
                          */
                        template<class T,class U> inline void appendLine(T p0,U p1)     {
                                appendLine(p0.x,p0.y,p0.z,p1.x,p1.y,p1.z);
                                CRenderizableDisplayList::notifyChange();
                        }
                        /** Returns the total count of lines in this set. */
                        inline size_t getLineCount() const      { return mSegments.size(); }
                        /** Returns the total count of lines in this set. */
                        inline size_t size() const { return mSegments.size(); }
                        /** Returns true if there are no line segments. */
                        inline bool empty() const { return mSegments.empty(); }
                        /**
                          * Sets a specific line in the set, given its index.
                          * \sa appendLine
                          */
                        void setLineByIndex(size_t index,const mrpt::math::TSegment3D &segm);
                        /**
                          * Sets a specific line in the set, given its index.
                          * \sa appendLine
                          */
                        inline void setLineByIndex(size_t index,double x0,double y0,double z0,double x1,double y1,double z1)    {
                                setLineByIndex(index,mrpt::math::TSegment3D(mrpt::math::TPoint3D(x0,y0,z0),mrpt::math::TPoint3D(x1,y1,z1)));
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Gets a specific line in the set, given its index.
                          * \sa getLineByIndex
                          */
                        void getLineByIndex(size_t index,double &x0,double &y0,double &z0,double &x1,double &y1,double &z1) const; 

                        /** Class factory */
                        static CSetOfLinesPtr Create(const std::vector<mrpt::math::TSegment3D> &sgms, const bool antiAliasing = true);

                        /** Render */
                        void  render_dl() const MRPT_OVERRIDE;

                        //Iterator management
                        typedef std::vector<mrpt::math::TSegment3D>::iterator iterator; //!< Iterator to the set.
                        typedef std::vector<mrpt::math::TSegment3D>::reverse_iterator reverse_iterator; //!< Iterator to the set.

                        /**
                          * Const iterator to the set.
                          */
                        typedef std::vector<mrpt::math::TSegment3D>::const_iterator const_iterator;
                        /**
                          * Const reverse iterator to the set.
                          */
                        typedef std::vector<mrpt::math::TSegment3D>::const_reverse_iterator const_reverse_iterator;
                        /**
                          * Beginning const iterator.
                          * \sa end,rbegin,rend
                          */
                        inline const_iterator begin() const     {
                                return mSegments.begin();
                        }
                        inline iterator begin() { CRenderizableDisplayList::notifyChange();  return mSegments.begin(); }
                        /**
                          * Ending const iterator.
                          * \sa begin,rend,rbegin
                          */
                        inline const_iterator end() const       {
                                return mSegments.end();
                        }
                        inline iterator end() { CRenderizableDisplayList::notifyChange(); return mSegments.end(); }
                        /**
                          * Beginning const reverse iterator (actually, accesses the end of the set).
                          * \sa rend,begin,end
                          */
                        inline const_reverse_iterator rbegin() const    {
                                return mSegments.rbegin();
                        }
                        /**
                          * Ending const reverse iterator (actually, refers to the starting point of the set).
                          * \sa rbegin,end,begin
                          */
                        inline const_reverse_iterator rend() const      {
                                return mSegments.rend();
                        }

                        /** 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;

                        void enableAntiAliasing(bool enable=true) { m_antiAliasing =enable; CRenderizableDisplayList::notifyChange(); }
                        bool isAntiAliasingEnabled() const { return m_antiAliasing; }

                private:
                        /** Constructor */
                        CSetOfLines();
                        /** Constructor with a initial set of lines. */
                        CSetOfLines(const std::vector<mrpt::math::TSegment3D> &sgms,bool antiAliasing=true);
                        /** Private, virtual destructor: only can be deleted from smart pointers. */
                        virtual ~CSetOfLines() { }
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSetOfLines, CRenderizableDisplayList, OPENGL_IMPEXP )
                /** Inserts a set of segments into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfLines::appendLines
                  */
                template<class T> inline CSetOfLinesPtr &operator<<(CSetOfLinesPtr &l,const T &s)       {
                        l->appendLines(s.begin(),s.end());
                        return l;
                }
                /** Inserts a segment into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfLines::appendLine(const TSegment &)
                  */
                template<> inline CSetOfLinesPtr &operator<<(CSetOfLinesPtr &l,const mrpt::math::TSegment3D &s) {
                        l->appendLine(s);
                        return l;
                }
        } // end namespace

} // End of namespace


#endif