CSetOfTriangles.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_CSetOfTriangles_H
#define opengl_CSetOfTriangles_H

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

namespace mrpt
{
        namespace opengl
        {


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

                /** A set of colored triangles.
                  *  This class can be used to draw any solid, arbitrarily complex object (without textures).
                  *  \sa opengl::COpenGLScene, CSetOfTexturedTriangles
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CSetOfTriangles : public CRenderizableDisplayList
                {
                        DEFINE_SERIALIZABLE( CSetOfTriangles )
                public:
                        /**
                          * Triangle definition. Each vertex has three spatial coordinates and four color values.
                          */
                        struct OPENGL_IMPEXP TTriangle
                        {
                                inline TTriangle() {
                                        for (size_t i = 0; i<3; i++) {
                                                r[i] = g[i] = b[i] = a[i] = 1.0f;
                                        }
                                }
                                inline TTriangle(const mrpt::math::TPolygon3D &p)  {
                                        ASSERT_(p.size()==3)
                                        for (size_t i=0;i<3;i++) {
                                                x[i]=p[i].x; y[i]=p[i].y; z[i]=p[i].z; r[i]=g[i]=b[i]=a[i]=1.0f; 
                                        }
                                }
                                float x[3],y[3],z[3];
                                float r[3],g[3],b[3],a[3];
                        };
                        /**
                          * Const iterator type.
                          */
                        typedef std::vector<TTriangle>::const_iterator const_iterator;
                        /**
                          * Const reverse iterator type.
                          */
                        typedef std::vector<TTriangle>::const_reverse_iterator const_reverse_iterator;
                protected:
                        /**
                          * List of triangles.
                          * \sa TTriangle
                          */
                        std::vector<TTriangle>          m_triangles;
                        /**
                          * Transparency enabling.
                          */
                        bool                                            m_enableTransparency;
                        /**
                          * Mutable variable used to check whether polygons need to be recalculated.
                          */
                        mutable bool polygonsUpToDate;
                        /**
                          * Polygon cache.
                          */
                        mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPolygons;
                public:
                        /**
                          * Polygon cache updating.
                          */
                        void updatePolygons() const;
                        /**
                          * Clear this object.
                          */
                        inline void clearTriangles() { m_triangles.clear();polygonsUpToDate=false; CRenderizableDisplayList::notifyChange(); }
                        /**
                          * Get triangle count.
                          */
                        inline size_t getTrianglesCount() const { return m_triangles.size(); }
                        /**
                          * Gets the triangle in a given position.
                          */
                        inline void getTriangle(size_t idx, TTriangle &t) const { ASSERT_(idx<m_triangles.size()); t=m_triangles[idx]; }
                        /**
                          * Inserts a triangle into the set.
                          */
                        inline void insertTriangle( const TTriangle &t ) { m_triangles.push_back(t);polygonsUpToDate=false; CRenderizableDisplayList::notifyChange(); }
                        /**
                          * Inserts a set of triangles, bounded by iterators, into this set.
                          * \sa insertTriangle
                          */
                        template<class InputIterator> inline void insertTriangles(const InputIterator &begin,const InputIterator &end)  {
                                m_triangles.insert(m_triangles.end(),begin,end);
                                polygonsUpToDate=false;
                                CRenderizableDisplayList::notifyChange();
                        }
                        /**
                          * Inserts an existing CSetOfTriangles into this one.
                          */
                        void insertTriangles(const CSetOfTrianglesPtr &p); 
                        /**
                          * Reserves memory for certain number of triangles, avoiding multiple memory allocation calls.
                          */
                        inline void reserve(size_t t)   {
                                m_triangles.reserve(t);
                                CRenderizableDisplayList::notifyChange();
                        }

                        /** Enables or disables transparency. */
                        inline void enableTransparency( bool v )        { m_enableTransparency = v; CRenderizableDisplayList::notifyChange(); }

                        CRenderizable& setColor_u8(const mrpt::utils::TColor &c) MRPT_OVERRIDE;
                        CRenderizable& setColorR_u8(const uint8_t r) MRPT_OVERRIDE;
                        CRenderizable& setColorG_u8(const uint8_t g) MRPT_OVERRIDE;
                        CRenderizable& setColorB_u8(const uint8_t b) MRPT_OVERRIDE;
                        CRenderizable& setColorA_u8(const uint8_t a) MRPT_OVERRIDE;

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

                        /** Ray tracing
                          */
                        bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;

                        /**
                          * Gets the polygon cache.
                          * \sa insertTriangles
                          */
                        void getPolygons(std::vector<mrpt::math::TPolygon3D> &polys) const;

                        /**
                          * Inserts a set of triangles, given in a container of either TTriangle's or TPolygon3D
                          * \sa insertTriangle
                          */
                        template<class CONTAINER>
                        inline void insertTriangles(const CONTAINER &c)  {
                                this->insertTriangles(c.begin(),c.end());
                                CRenderizableDisplayList::notifyChange();
                        }

                        /**
                          * Gets the beginning iterator to this object.
                          */
                        inline const_iterator begin() const     {
                                return m_triangles.begin();
                        }
                        /**
                          * Gets the ending iterator to this object.
                          */
                        inline const_iterator end() const       {
                                return m_triangles.end();
                        }
                        /**
                          * Gets the reverse beginning iterator to this object, which points to the last triangle.
                          */
                        inline const_reverse_iterator rbegin() const    {
                                return m_triangles.rbegin();
                        }
                        /**
                          * Gets the reverse ending iterator to this object, which points to the beginning of the actual set.
                          */
                        inline const_reverse_iterator rend() const      {
                                return m_triangles.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;

                private:
                        /** Constructor
                          */
                        CSetOfTriangles( bool enableTransparency = false ) :
                                m_triangles(),
                                m_enableTransparency(enableTransparency),
                                polygonsUpToDate(false)
                        {
                        }

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSetOfTriangles() { }
                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CSetOfTriangles, CRenderizableDisplayList, OPENGL_IMPEXP )
                /** Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfTriangles::insertTriangle
                  */
                template<class T> inline CSetOfTrianglesPtr &operator<<(CSetOfTrianglesPtr &s,const T &t)       {
                        s->insertTriangles(t.begin(),t.end());
                        return s;
                }
                /** Inserts a triangle into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfTriangles::insertTriangle
                  */
                template<> inline CSetOfTrianglesPtr &operator<<(CSetOfTrianglesPtr &s,const CSetOfTriangles::TTriangle &t)     {
                        s->insertTriangle(t);
                        return s;
                }

        } // end namespace

} // End of namespace


#endif