CSphere.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/CSphere.h>
//#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CArchive.h>
#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::poses;

using namespace mrpt::math;
using namespace std;

IMPLEMENTS_SERIALIZABLE(CSphere, CRenderizableDisplayList, mrpt::opengl)

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
}

uint8_t CSphere::serializeGetVersion() const { return 1; }
void CSphere::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_radius;
    out << (uint32_t)m_nDivsLongitude << (uint32_t)m_nDivsLatitude
        << m_keepRadiusIndependentEyeDistance;
}
void CSphere::serializeFrom(mrpt::serialization::CArchive& in, uint8_t 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);
}