CDisk.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CDisk.h>
#include <mrpt/serialization/CArchive.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;

using mrpt::poses::CPose3D;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CDisk, CRenderizableDisplayList, mrpt::opengl)

/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CDisk::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
    glEnable(GL_BLEND);
    checkOpenGLError();
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    checkOpenGLError();

    GLUquadricObj* obj = gluNewQuadric();

    gluDisk(obj, m_radiusIn, m_radiusOut, m_nSlices, m_nLoops);

    gluDeleteQuadric(obj);

    glDisable(GL_BLEND);
#endif
}

uint8_t CDisk::serializeGetVersion() const { return 0; }
void CDisk::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_radiusIn << m_radiusOut;
    out << m_nSlices << m_nLoops;
}

void CDisk::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            readFromStreamRender(in);
            in >> m_radiusIn >> m_radiusOut;
            in >> m_nSlices;
            in >> m_nLoops;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizableDisplayList::notifyChange();
}

bool CDisk::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
    // The disk is contained initially in a plane which contains (0,0,0),
    // (1,0,0) and (0,1,0)
    // These points are converted into:
    //(x,y,z)
    //( cos(w)*cos(p)+x, sin(w)*cos(p)*y, -sin(p)+z )
    //( -sin(w)*cos(r)+cos(w)*sin(p)*sin(r)+x,
    // cos(w)*cos(r)+sin(w)*sin(p)*sin(r)+y, cos(p)*sin(r)*z )
    CPose3D transf = this->m_pose - o;
    double x = transf.x(), y = transf.y(), z = transf.z(), w = transf.yaw(),
           p = transf.pitch(), r = transf.roll();
    double coef = sin(w) * sin(r) + cos(w) * sin(p) * cos(r);
    // coef is the first component of the normal to the transformed Z plane. So,
    // the scalar product between
    // this normal and (1,0,0) (which happens to be the beam's vector) equals
    // coef. And if it's 0, then both
    // are orthogonal, that is, the beam is parallel to the plane.
    if (coef == 0) return false;
    // The following expression yields the collision point between the plane and
    // the beam (the y and z
    // coordinates are zero).
    dist = x + (y * (sin(p) * sin(w) * cos(r) - cos(w) * sin(r)) +
                z * cos(p) * cos(r)) /
                   coef;
    if (dist < 0) return false;
    // Euclidean distance is invariant to rotations...
    double d2 = (x - dist) * (x - dist) + y * y + z * z;
    return d2 >= (m_radiusIn * m_radiusIn) && d2 <= (m_radiusOut * m_radiusOut);

    // IMPORTANT NOTICE: using geometric intersection between Z plane and
    // CPose's line intersection is SLOWER than the used method.
}

void CDisk::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = -std::max(m_radiusIn, m_radiusOut);
    bb_min.y = bb_min.x;
    bb_min.z = 0;

    bb_max.x = std::max(m_radiusIn, m_radiusOut);
    bb_max.y = bb_max.x;
    bb_max.z = 0;

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