CSphere.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/CSphere.h>
#include <mrpt/serialization/CArchive.h>

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

IMPLEMENTS_SERIALIZABLE(CSphere, CRenderizable, mrpt::opengl)

uint8_t CSphere::serializeGetVersion() const { return 2; }
void CSphere::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_radius;
    out << (uint32_t)m_nDivsLongitude << (uint32_t)m_nDivsLatitude;
}
void CSphere::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            readFromStreamRender(in);
            in >> m_radius;
            uint32_t i, j;
            in >> i >> j;
            m_nDivsLongitude = i;
            m_nDivsLatitude = j;
            if (version == 1)
            {
                bool keepRadiusIndependentEyeDistance;
                in >> keepRadiusIndependentEyeDistance;
            }

            regenerateBaseParams();
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizable::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);
}

void CSphere::renderUpdateBuffers() const
{
    const_cast<CSphere*>(this)->regenerateBaseParams();
    BASE::renderUpdateBuffers();
}