CSetOfObjects.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_CSetOfObjects_H
#define opengl_CSetOfObjects_H

#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/poses/poses_frwds.h>  // All these are needed for the auxiliary methods posePDF2opengl()
#include <mrpt/utils/CStringList.h>

namespace mrpt
{
        namespace opengl
        {


                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSetOfObjects, CRenderizable, OPENGL_IMPEXP )

                /** A set of object, which are referenced to the coordinates framework established in this object.
                  *  It can be established a hierarchy of "CSetOfObjects", where the coordinates framework of each
                  *   one will be referenced to the parent's one.
                  *     The list of child objects is accessed directly as in the class "COpenGLScene"
                  *  \sa opengl::COpenGLScene
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSetOfObjects : public CRenderizable
                {
                        DEFINE_SERIALIZABLE( CSetOfObjects )

                protected:
                        /** The list of child objects.
                          *  Objects are automatically deleted when calling "clear" or in the destructor.
                          */
                        CListOpenGLObjects              m_objects;

                public:

                        typedef CListOpenGLObjects::const_iterator      const_iterator;
                        typedef CListOpenGLObjects::iterator            iterator;

                        inline const_iterator begin() const { return  m_objects.begin(); }
                        inline const_iterator end() const { return  m_objects.end(); }
                        inline iterator begin() { return  m_objects.begin(); }
                        inline iterator end() { return  m_objects.end(); }

                        /** Inserts a set of objects into the list.
                          */
                        template<class T> inline void insertCollection(const T &objs)   {
                                insert(objs.begin(),objs.end());
                        }
                        /** Insert a new object to the list.
                          */
                        void insert( const CRenderizablePtr &newObject );

                        /** Inserts a set of objects, bounded by iterators, into the list.
                          */
                        template<class T_it> inline void insert(const T_it &begin,const T_it &end)      {
                                for (T_it it=begin;it!=end;it++) insert(*it);
                        }

                        /** Render child objects.
                          */
                        void  render() const MRPT_OVERRIDE;

                        /** Clear the list of objects in the scene, deleting objects' memory.
                          */
                        void  clear();

                        /** Returns number of objects.  */
                        size_t size()  {  return m_objects.size(); }

                        /** Returns true if there are no objects.  */
                        inline bool empty() const { return m_objects.empty(); }

                        /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
                          */
                        void  initializeAllTextures();

                        /** Returns the first object with a given name, or a NULL pointer if not found.
                          */
                        CRenderizablePtr getByName( const std::string &str );

                         /** Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
                           *  Example:
                           * \code
                                        CSpherePtr obs = myscene.getByClass<CSphere>();
                           * \endcode
                           * By default (ith=0), the first observation is returned.
                           */
                        template <typename T>
                        typename T::Ptr getByClass( const size_t &ith = 0 ) const;

                        /** Removes the given object from the scene (it also deletes the object to free its memory).
                          */
                        void removeObject( const CRenderizablePtr &obj );

                        /** Retrieves a list of all objects in text form  */
                        void dumpListOfObjects( mrpt::utils::CStringList  &lst );

                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;

                        virtual CRenderizable& setColor_u8(const mrpt::utils::TColor &c) MRPT_OVERRIDE;
                        virtual CRenderizable& setColorR_u8(const uint8_t r) MRPT_OVERRIDE;
                        virtual CRenderizable& setColorG_u8(const uint8_t g) MRPT_OVERRIDE;
                        virtual CRenderizable& setColorB_u8(const uint8_t b) MRPT_OVERRIDE;
                        virtual CRenderizable& setColorA_u8(const uint8_t a) MRPT_OVERRIDE;
                        bool contains(const CRenderizablePtr &obj) const;
                        virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;

                        /** @name pose_pdf -> 3d objects auxiliary templates
                            @{ */
                        // The reason this code is here is to exploit C++'s "T::template function()" in order to
                        //  define the members getAs3DObject() in several classes in mrpt-base with its argument
                        //  being a class (CSetOfObjects) which is actually declared here, in mrpt-opengl.
                        //  Implementations are in "pose_pdfs.cpp", not in "CSetOfObjects" (historic reasons...)

                        /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call
                          *    mrpt::poses::CPosePDF::getAs3DObject     */
                        static CSetOfObjectsPtr posePDF2opengl(const mrpt::poses::CPosePDF &o);

                        /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call
                          *    mrpt::poses::CPointPDF::getAs3DObject     */
                        static CSetOfObjectsPtr posePDF2opengl(const mrpt::poses::CPointPDF &o);

                        /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call
                          *    mrpt::poses::CPose3DPDF::getAs3DObject     */
                        static CSetOfObjectsPtr posePDF2opengl(const mrpt::poses::CPose3DPDF &o);

                        /** Returns a representation of a the PDF - this is just an auxiliary function, it's more natural to call
                          *    mrpt::poses::CPose3DQuatPDF::getAs3DObject     */
                        static CSetOfObjectsPtr posePDF2opengl(const mrpt::poses::CPose3DQuatPDF &o);

                        /** @} */

                private:
                        /** Default constructor
                          */
                        CSetOfObjects( );

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSetOfObjects();
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSetOfObjects, CRenderizable, OPENGL_IMPEXP )
                /** Inserts an object into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfObjects::insert
                  */
                inline CSetOfObjectsPtr &operator<<(CSetOfObjectsPtr &s,const CRenderizablePtr &r)      {
                        s->insert(r);
                        return s;
                }
                /** Inserts a set of objects into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfObjects::insert
                  */
                template<class T> inline CSetOfObjectsPtr &operator<<(CSetOfObjectsPtr &o,const std::vector<T> &v)      {
                        o->insertCollection(v);
                        return o;
                }

                // Implementation: (here because it needs the _POST macro defining the Ptr)
                template <typename T>
                typename T::Ptr CSetOfObjects::getByClass( const size_t &ith ) const
                {
                        MRPT_START
                        size_t  foundCount = 0;
                        const mrpt::utils::TRuntimeClassId*     class_ID = T::classinfo;
                        for (CListOpenGLObjects::const_iterator it = m_objects.begin();it!=m_objects.end();++it)
                                if (  (*it).present() && (*it)->GetRuntimeClass()->derivedFrom( class_ID ) )
                                        if (foundCount++ == ith)
                                                return typename T::Ptr(*it);

                        // If not found directly, search recursively:
                        for (CListOpenGLObjects::const_iterator it=m_objects.begin();it!=m_objects.end();++it)
                        {
                                if ( (*it).present() && (*it)->GetRuntimeClass() == CLASS_ID_NAMESPACE(CSetOfObjects,mrpt::opengl))
                                {
                                        typename T::Ptr o = CSetOfObjectsPtr(*it)->getByClass<T>(ith);
                                        if (o) return o;
                                }
                        }

                        return typename T::Ptr();       // Not found: return empty smart pointer
                        MRPT_END
                }

        } // end namespace

} // End of namespace


#endif