CTexturedPlane.h

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    |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CTexturedPlane_H
#define opengl_CTexturedPlane_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
        namespace opengl
        {


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

                /** A 2D plane in the XY plane with a texture image.
                  *  \sa opengl::COpenGLScene
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CTexturedPlane : public CTexturedObject
                {
                        DEFINE_SERIALIZABLE( CTexturedPlane )
                protected:
                        mutable float                           m_tex_x_min,m_tex_x_max;
                        mutable float                           m_tex_y_min,m_tex_y_max;

                        float                   m_xMin, m_xMax;
                        float                   m_yMin, m_yMax;

                        mutable bool polygonUpToDate;
                        mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly;   //!< Used for ray-tracing
                        void updatePoly() const;
                        void unloadTexture();

                        void  render_texturedobj() const MRPT_OVERRIDE;

                public:
                        /** Set the texture coordinates of the four corners (in the range 0-1). */
                        void setTextureCornerCoords( float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
                        {
                                m_tex_x_min=tex_x_min;
                                m_tex_x_max=tex_x_max;
                                m_tex_y_min=tex_y_min;
                                m_tex_y_max=tex_y_max;
                                CRenderizableDisplayList::notifyChange();
                        }

                        /** Set the coordinates of the four corners that define the plane on the XY plane. */
                        void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
                        {
                                m_xMin = xMin; m_xMax = xMax;
                                m_yMin = yMin; m_yMax = yMax;
                                polygonUpToDate=false;
                                CRenderizableDisplayList::notifyChange();
                        }

                        /** Get the coordinates of the four corners that define the plane on the XY plane. */
                        inline void getPlaneCorners(float &xMin, float &xMax, float &yMin, float &yMax) const
                        {
                                xMin = m_xMin; xMax = m_xMax;
                                yMin = m_yMin; yMax = m_yMax;
                        }

                        /** Class factory  */
                        static CTexturedPlanePtr Create(float x_min, float x_max, float y_min, float y_max);

                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const MRPT_OVERRIDE;
                        virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE;

                private:
                        /** Constructor
                          */
                        CTexturedPlane(
                                float                           x_min = -1,
                                float                           x_max = 1,
                                float                           y_min = -1,
                                float                           y_max = 1
                                );

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

        } // end namespace

} // End of namespace


#endif