CTexturedPlane.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/TPolygonWithPlane.h>
#include <mrpt/opengl/CRenderizableShaderTexturedTriangles.h>

namespace mrpt::opengl
{
/** A 2D plane in the XY plane with a texture image.
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CTexturedPlane : public CRenderizableShaderTexturedTriangles
{
    DEFINE_SERIALIZABLE(CTexturedPlane, mrpt::opengl)

   protected:
    float m_xMin = -1.0f, m_xMax = 1.0f;
    float m_yMin = -1.0f, m_yMax = 1.0f;

    mutable bool polygonUpToDate{false};
    /** Used for ray-tracing */
    mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly;
    void updatePoly() const;
    void unloadTexture();

   public:
    /** @name Renderizable shader API virtual methods
     * @{ */
    virtual void onUpdateBuffers_TexturedTriangles() override;
    /** @} */

    CTexturedPlane(
        float x_min = -1, float x_max = 1, float y_min = -1, float y_max = 1);
    virtual ~CTexturedPlane() override = default;

    /** Set the coordinates of the four corners that define the plane on the XY
     * plane. */
    void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
    {
        m_xMin = xMin;
        m_xMax = xMax;
        m_yMin = yMin;
        m_yMax = yMax;
        polygonUpToDate = false;
        CRenderizable::notifyChange();
    }

    /** Get the coordinates of the four corners that define the plane on the XY
     * plane. */
    inline void getPlaneCorners(
        float& xMin, float& xMax, float& yMin, float& yMax) const
    {
        xMin = m_xMin;
        xMax = m_xMax;
        yMin = m_yMin;
        yMax = m_yMax;
    }

    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
    void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;
};

}  // namespace mrpt::opengl