CSimpleLine.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/CSimpleLine.h>
#include <mrpt/utils/CStream.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( CSimpleLine, CRenderizableDisplayList, mrpt::opengl )
 
CSimpleLinePtr CSimpleLine::Create(
        float x0,float y0, float z0,
        float x1,float y1, float z1, float lineWidth  )
{
        return CSimpleLinePtr(new CSimpleLine(x0,y0,z0,x1,y1,z1,lineWidth));
}
 
CSimpleLine::CSimpleLine(
        float x0,float y0, float z0,
        float x1,float y1, float z1, float lineWidth,
        bool antiAliasing) :
                m_x0(x0),m_y0(y0),m_z0(z0),
                m_x1(x1),m_y1(y1),m_z1(z1),
                m_lineWidth(lineWidth),
                m_antiAliasing(antiAliasing)
{
}
 
/*---------------------------------------------------------------
                                                        render_dl
  ---------------------------------------------------------------*/
void   CSimpleLine::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        // Enable antialiasing:
        if (m_antiAliasing)
        {
                glPushAttrib( GL_COLOR_BUFFER_BIT | GL_LINE_BIT );
                glBlendFunc(GL_SRC_ALPHA,GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
                glEnable(GL_LINE_SMOOTH);
        }
        glLineWidth(m_lineWidth);
 
        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin( GL_LINES );
 
        glColor4ub(m_color.R,m_color.G,m_color.B,m_color.A);
        glVertex3f( m_x0, m_y0, m_z0 );
        glVertex3f( m_x1, m_y1, m_z1 );
 
        glEnd();
        checkOpenGLError();
        glEnable(GL_LIGHTING);  // Disable lights when drawing lines
 
        // End antialiasing:
        if (m_antiAliasing)
        {
                glPopAttrib();
                checkOpenGLError();
        }
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CSimpleLine::writeToStream(mrpt::utils::CStream &out,int *version) const
{
 
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << m_x0 << m_y0 << m_z0;
                out << m_x1 << m_y1 << m_z1 << m_lineWidth;
                out << m_antiAliasing; // Added in v1
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CSimpleLine::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 1:
                {
                        readFromStreamRender(in);
                        in >> m_x0 >> m_y0 >> m_z0;
                        in >> m_x1 >> m_y1 >> m_z1 >> m_lineWidth;
                        if (version>=1)
                                in >> m_antiAliasing;
                        else m_antiAliasing=true;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
 
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CSimpleLine::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = std::min(m_x0, m_x1);
        bb_min.y = std::min(m_y0, m_y1);
        bb_min.z = std::min(m_z0, m_z1);
 
        bb_max.x = std::max(m_x0, m_x1);
        bb_max.y = std::max(m_y0, m_y1);
        bb_max.z = std::max(m_z0, m_z1);
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}