CTexturedPlane.cpp

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |                     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/CTexturedPlane.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/opengl/CSetOfTriangles.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( CTexturedPlane, CTexturedObject, mrpt::opengl )

CTexturedPlanePtr CTexturedPlane::Create(
        float                           x_min,
        float                           x_max,
        float                           y_min,
        float                           y_max)
{
        return CTexturedPlanePtr( new CTexturedPlane(x_min, x_max, y_min, y_max) );
}
/*---------------------------------------------------------------
                                                        CTexturedPlane
  ---------------------------------------------------------------*/
CTexturedPlane::CTexturedPlane(
        float                           x_min,
        float                           x_max,
        float                           y_min,
        float                           y_max
        ) :
                polygonUpToDate(false)
{
        // Copy data:
        m_xMin = x_min;
        m_xMax = x_max;
        m_yMin = y_min;
        m_yMax = y_max;
}


/*---------------------------------------------------------------
                                                        ~CTexturedPlane
  ---------------------------------------------------------------*/
CTexturedPlane::~CTexturedPlane()
{
}

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void   CTexturedPlane::render_texturedobj() const
{
#if MRPT_HAS_OPENGL_GLUT
        MRPT_START

        // Compute the exact texture coordinates:
        m_tex_x_min = 0;
        m_tex_x_max = 1.0f-((float)m_pad_x_right) / r_width;
        m_tex_y_min = 0;
        m_tex_y_max = 1.0f-((float)m_pad_y_bottom) / r_height;

        glDisable(GL_CULL_FACE);
        glBegin(GL_QUADS);

        glTexCoord2d(m_tex_x_min,m_tex_y_min);
        glVertex3f( m_xMin, m_yMin,0 );

        glTexCoord2d(m_tex_x_max,m_tex_y_min);
        glVertex3f( m_xMax, m_yMin,0 );

        glTexCoord2d(m_tex_x_max,m_tex_y_max);
        glVertex3f( m_xMax, m_yMax,0 );

        glTexCoord2d(m_tex_x_min,m_tex_y_max);
        glVertex3f( m_xMin, m_yMax,0 );

        glEnd();
        checkOpenGLError();

        MRPT_END
#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
void  CTexturedPlane::writeToStream(mrpt::utils::CStream &out,int *version) const
{
        if (version)
                *version = 2;
        else
        {
                writeToStreamRender(out);

                out << m_xMin << m_xMax;
                out << m_yMin << m_yMax;

                writeToStreamTexturedObject(out);
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void  CTexturedPlane::readFromStream(mrpt::utils::CStream &in,int version)
{
        switch(version)
        {
        case 0:
                {
                        readFromStreamRender(in);
                        in >> m_textureImage >> m_textureImageAlpha;
                        in >> m_xMin >> m_xMax;
                        in >> m_yMin >> m_yMax;

                        assignImage( m_textureImage, m_textureImageAlpha );

                } break;
        case 1:
        case 2:
                {
                        readFromStreamRender(in);

                        in >> m_xMin >> m_xMax;
                        in >> m_yMin >> m_yMax;

                        if (version>=2)
                        {
                                readFromStreamTexturedObject(in);
                        }
                        else
                        {       // Old version.
                                in >> CTexturedObject::m_enableTransparency;
                                in >> CTexturedObject::m_textureImage;
                                if (CTexturedObject::m_enableTransparency)
                                {
                                        in >> CTexturedObject::m_textureImageAlpha;
                                        assignImage( CTexturedObject::m_textureImage, CTexturedObject::m_textureImageAlpha );
                                }
                                else
                                        assignImage( CTexturedObject::m_textureImage );
                        }

                } break;
        default:
                MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)

        };
        CRenderizableDisplayList::notifyChange();
}

bool CTexturedPlane::traceRay(const mrpt::poses::CPose3D &o,double &dist) const {
        if (!polygonUpToDate) updatePoly();
        return math::traceRay(tmpPoly,o-this->m_pose,dist);
}

void CTexturedPlane::updatePoly() const {
        TPolygon3D poly(4);
        poly[0].x=poly[1].x=m_xMin;
        poly[2].x=poly[3].x=m_xMax;
        poly[0].y=poly[3].y=m_yMin;
        poly[1].y=poly[2].y=m_yMax;
        for (size_t i=0;i<4;i++) poly[i].z=0;
        tmpPoly.resize(1);
        tmpPoly[0]=poly;
        polygonUpToDate=true;
}


void CTexturedPlane::getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const
{
        bb_min.x = std::min(m_xMin, m_xMax);
        bb_min.y = std::min(m_yMin, m_yMax);
        bb_min.z = 0;

        bb_max.x = std::max(m_xMin, m_xMax);
        bb_max.y = std::max(m_yMin, m_yMax);
        bb_max.z = 0;

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