CSetOfTexturedTriangles.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/CSetOfTexturedTriangles.h>
#include <mrpt/serialization/CArchive.h>

#include <mrpt/opengl/opengl_api.h>

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

IMPLEMENTS_SERIALIZABLE(CSetOfTexturedTriangles, CRenderizable, mrpt::opengl)

void CSetOfTexturedTriangles::onUpdateBuffers_TexturedTriangles()
{
    // Nothing else to do: all data is already in m_triangles in my base class.
}

uint8_t CSetOfTexturedTriangles::serializeGetVersion() const { return 2; }
void CSetOfTexturedTriangles::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    uint32_t n;

    writeToStreamRender(out);
    writeToStreamTexturedObject(out);

    n = (uint32_t)m_triangles.size();

    out << n;

    for (uint32_t i = 0; i < n; i++) m_triangles[i].writeTo(out);
}

void CSetOfTexturedTriangles::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            readFromStreamRender(in);
            if (version >= 2)
            {
                readFromStreamTexturedObject(in);
            }
            else
            {  // Old version.
                THROW_EXCEPTION("deserializing old version not supported.");
            }

            uint32_t n;
            in >> n;
            m_triangles.resize(n);

            for (uint32_t i = 0; i < n; i++) m_triangles[i].readFrom(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizable::notifyChange();
}

bool CSetOfTexturedTriangles::traceRay(
    const mrpt::poses::CPose3D& o, double& dist) const
{
    MRPT_UNUSED_PARAM(o);
    MRPT_UNUSED_PARAM(dist);
    throw std::runtime_error(
        "TODO: TraceRay not implemented in CSetOfTexturedTriangles");
}

void CSetOfTexturedTriangles::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = mrpt::math::TPoint3D(
        std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
    bb_max = mrpt::math::TPoint3D(
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max());

    for (const auto& t : m_triangles)
    {
        for (size_t i = 0; i < 3; i++)
        {
            keep_min(bb_min.x, t.x(i));
            keep_max(bb_max.x, t.x(i));

            keep_min(bb_min.y, t.y(i));
            keep_max(bb_max.y, t.y(i));

            keep_min(bb_min.z, t.z(i));
            keep_max(bb_max.z, t.z(i));
        }
    }

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