CSetOfTexturedTriangles.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_CSetOfTexturedTriangles_H
#define opengl_CSetOfTexturedTriangles_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
        namespace utils { class CStream; }

        namespace opengl
        {
                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSetOfTexturedTriangles, CTexturedObject, OPENGL_IMPEXP )

                /** A set of textured triangles.
                  *  This class can be used to draw any solid, arbitrarily complex object with textures.
                  *  \sa opengl::COpenGLScene
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSetOfTexturedTriangles : public CTexturedObject
                {
                        DEFINE_SERIALIZABLE( CSetOfTexturedTriangles )

                public:
                        /** Triangle vertex. This structure encapsulates the vertex coordinates and the image pixels.
                          */
                        struct OPENGL_IMPEXP TVertex
                        {
                                TVertex( ); //!< Default constructor                    
                                TVertex(float x, float y, float z, uint32_t u, uint32_t v);
                                float m_x, m_y, m_z; //!< 3D vertex coordinates.
                                uint32_t m_u, m_v; //!< 2D texture coordinates. Notice that the texture coordinates are 2D pixels!!!
                                void writeToStream(mrpt::utils::CStream &out) const;
                                void readFromStream(mrpt::utils::CStream &in);
                        };

                        /** Triangle. This structure encapsulates the triangle vertices.
                          */
                        struct OPENGL_IMPEXP TTriangle
                        {
                                TTriangle( ); //!< Default constructor
                                TTriangle(TVertex v1, TVertex v2, TVertex v3);
                                TVertex m_v1, m_v2, m_v3; //!< vertices
                                void writeToStream(mrpt::utils::CStream &out) const;
                                void readFromStream(mrpt::utils::CStream &in);
                        };

                        /** 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;

                protected:
                        /** Triangle array. */
                        std::vector<TTriangle>  m_triangles;

                        void  render_texturedobj( ) const MRPT_OVERRIDE;

                public:
                        void clearTriangles( ) { m_triangles.clear(); CRenderizableDisplayList::notifyChange(); }
                        size_t getTrianglesCount( ) const { return m_triangles.size(); }
                        const TTriangle & getTriangle( size_t idx) const { ASSERT_(idx<m_triangles.size()); return m_triangles[idx];  }
                        void getTriangle( size_t idx, TTriangle &t ) const { ASSERT_(idx<m_triangles.size()); t = m_triangles[idx]; CRenderizableDisplayList::notifyChange(); }
                        void insertTriangle( const TTriangle &t ) { m_triangles.push_back(t); CRenderizableDisplayList::notifyChange(); }


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

                private:
                        /** Constructor
                          */
                        CSetOfTexturedTriangles( ) : m_triangles()
                        { }

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSetOfTexturedTriangles();
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSetOfTexturedTriangles, CTexturedObject, OPENGL_IMPEXP )

        } // end namespace

} // End of namespace

#endif