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

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

IMPLEMENTS_SERIALIZABLE(
    CGridPlaneXZ, CRenderizableShaderWireFrame, mrpt::opengl)

/** Constructor */
CGridPlaneXZ::CGridPlaneXZ(
    float xMin, float xMax, float zMin, float zMax, float y, float frequency,
    float lineWidth, bool antiAliasing)
    : m_xMin(xMin),
      m_xMax(xMax),
      m_zMin(zMin),
      m_zMax(zMax),
      m_plane_y(y),
      m_frequency(frequency)
{
    m_lineWidth = lineWidth;
    m_antiAliasing = antiAliasing;
}

void CGridPlaneXZ::onUpdateBuffers_Wireframe()
{
    // Generate vertices:
    m_vertex_buffer_data.clear();
    m_color_buffer_data.clear();

    for (float z = m_zMin; z <= m_zMax; z += m_frequency)
    {
        m_vertex_buffer_data.emplace_back(m_xMin, m_plane_y, z);
        m_vertex_buffer_data.emplace_back(m_xMax, m_plane_y, z);
    }

    for (float x = m_xMin; x <= m_xMax; x += m_frequency)
    {
        m_vertex_buffer_data.emplace_back(x, m_plane_y, m_zMin);
        m_vertex_buffer_data.emplace_back(x, m_plane_y, m_zMax);
    }
    // The same color to all vertices:
    m_color_buffer_data.assign(m_vertex_buffer_data.size(), m_color);
}

uint8_t CGridPlaneXZ::serializeGetVersion() const { return 1; }
void CGridPlaneXZ::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_xMin << m_xMax;
    out << m_zMin << m_zMax << m_plane_y;
    out << m_frequency;
    out << m_lineWidth << m_antiAliasing;  // v1
}

void CGridPlaneXZ::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            readFromStreamRender(in);
            in >> m_xMin >> m_xMax;
            in >> m_zMin >> m_zMax >> m_plane_y;
            in >> m_frequency;
            if (version >= 1)
                in >> m_lineWidth >> m_antiAliasing;
            else
            {
                m_lineWidth = 1.0f;
                m_antiAliasing = true;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizable::notifyChange();
}

void CGridPlaneXZ::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = m_xMin;
    bb_min.y = 0;
    bb_min.z = m_zMin;

    bb_max.x = m_xMax;
    bb_max.y = 0;
    bb_max.z = m_zMax;

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