CSphere.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/CSphere.h>
//#include <mrpt/poses/CPose3D.h>
#include <mrpt/utils/CStream.h>
#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::poses;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;


IMPLEMENTS_SERIALIZABLE( CSphere, CRenderizableDisplayList, mrpt::opengl )

CSpherePtr CSphere::Create(
        float radius, int nDivsLongitude, int nDivsLatitude)
{
        return CSpherePtr( new CSphere(radius,nDivsLongitude,nDivsLatitude) );
}
/*---------------------------------------------------------------
                                                        render_dl
  ---------------------------------------------------------------*/
void   CSphere::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        if ( m_color.A != 255 )
        {
                glDisable(GL_DEPTH_TEST);
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }

        // Determine radius depending on eye distance?
        float real_radius;
        if (m_keepRadiusIndependentEyeDistance)
        {
                glRasterPos3f(0.0f,0.0f,0.0f);

                GLfloat         raster_pos[4];
                glGetFloatv( GL_CURRENT_RASTER_POSITION, raster_pos);
                float eye_distance= raster_pos[3];

                eye_distance  = max( eye_distance , 0.1f);

                real_radius = 0.01*m_radius * eye_distance;
        }
        else real_radius = m_radius;


        GLUquadricObj   *obj = gluNewQuadric();
        checkOpenGLError();

    gluQuadricDrawStyle(obj,GLU_FILL);
    gluQuadricNormals(obj,GLU_SMOOTH);

        gluSphere( obj, real_radius ,m_nDivsLongitude,m_nDivsLatitude);
        checkOpenGLError();

        gluDeleteQuadric(obj);
        checkOpenGLError();

        if ( m_color.A != 255 )
        {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
        }

#endif
}
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CSphere::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << m_radius;
                out << (uint32_t)m_nDivsLongitude << (uint32_t)m_nDivsLatitude
                    << m_keepRadiusIndependentEyeDistance;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CSphere::readFromStream(mrpt::utils::CStream &in,int version)
{

        switch(version)
        {
        case 0:
        case 1:
                {
                        readFromStreamRender(in);
                        in >> m_radius;
                        uint32_t        i,j;
                        in >> i >> j;
                        m_nDivsLongitude = i;
                        m_nDivsLatitude = j;
                        if (version>=1)
                                        in >> m_keepRadiusIndependentEyeDistance;
                        else    m_keepRadiusIndependentEyeDistance = false;
                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
        CRenderizableDisplayList::notifyChange();
}

bool CSphere::traceRay(const mrpt::poses::CPose3D &o,double &dist) const        {
        //We need to find the points of the sphere which collide with the laser beam.
        //The sphere's equation is invariant to rotations (but not to translations), and we can take advantage of this;
        //we'll simply transform the center and then compute the beam's points whose distance to that transformed point
        //equals the sphere's radius.

        CPose3D transf=this->m_pose-o;
        double x=transf.x(),y=transf.y(),z=transf.z();
        double r2=m_radius*m_radius;
        double dyz=y*y+z*z;
        if (dyz>r2) return false;
        double dx=sqrt(r2-dyz);
        if (x-dx>=0)    {
                dist=x-dx;
                return true;
        }       else if (x+dx>=0)       {
                dist=x+dx;
                return true;
        }       else return false;
}

void CSphere::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = -m_radius;
        bb_min.y = -m_radius;
        bb_min.z = -m_radius;

        bb_max.x = m_radius;
        bb_max.y = m_radius;
        bb_max.z = m_radius;

        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}