CVectorField2D.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/CVectorField2D.h>
#include <mrpt/serialization/CArchive.h>

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

IMPLEMENTS_SERIALIZABLE(CVectorField2D, CRenderizable, mrpt::opengl)

/** Constructor */
CVectorField2D::CVectorField2D() : xcomp(0, 0), ycomp(0, 0)

{
    m_point_color = m_color;
    m_field_color = m_color;
}

/** Constructor with a initial set of lines. */
CVectorField2D::CVectorField2D(
    [[maybe_unused]] CMatrixFloat Matrix_x,
    [[maybe_unused]] CMatrixFloat Matrix_y, [[maybe_unused]] float xmin,
    [[maybe_unused]] float xmax, [[maybe_unused]] float ymin,
    [[maybe_unused]] float ymax)
{
    m_point_color = m_color;
    m_field_color = m_color;
}

void CVectorField2D::render(const RenderContext& rc) const
{
    switch (rc.shader_id)
    {
        case DefaultShaderID::TRIANGLES:
            CRenderizableShaderTriangles::render(rc);
            break;
        case DefaultShaderID::WIREFRAME:
            CRenderizableShaderWireFrame::render(rc);
            break;
        case DefaultShaderID::POINTS:
            CRenderizableShaderWireFrame::render(rc);
            break;
    };
}
void CVectorField2D::renderUpdateBuffers() const
{
    CRenderizableShaderPoints::renderUpdateBuffers();
    CRenderizableShaderTriangles::renderUpdateBuffers();
    CRenderizableShaderWireFrame::renderUpdateBuffers();
}

void CVectorField2D::onUpdateBuffers_Wireframe()
{
    auto& vbd = CRenderizableShaderWireFrame::m_vertex_buffer_data;
    auto& cbd = CRenderizableShaderWireFrame::m_color_buffer_data;
    vbd.clear();

    vbd.reserve(xcomp.size() * 2);

    const float x_cell_size = (xMax - xMin) / (xcomp.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);

    for (int i = 0; i < xcomp.cols(); i++)
        for (int j = 0; j < xcomp.rows(); j++)
        {
            vbd.emplace_back(xMin + i * x_cell_size, yMin + j * y_cell_size, 0);
            vbd.emplace_back(
                xMin + i * x_cell_size + xcomp(j, i),
                yMin + j * y_cell_size + ycomp(j, i), 0);
        }

    cbd.assign(vbd.size(), m_field_color);
}
void CVectorField2D::onUpdateBuffers_Triangles()
{
    using P3f = mrpt::math::TPoint3Df;

    auto& tris = CRenderizableShaderTriangles::m_triangles;
    tris.clear();

    tris.reserve(xcomp.size());

    const float x_cell_size = (xMax - xMin) / (xcomp.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);

    for (int i = 0; i < xcomp.cols(); i++)
        for (int j = 0; j < xcomp.rows(); j++)
        {
            const float tri_side =
                0.25f *
                sqrt(xcomp(j, i) * xcomp(j, i) + ycomp(j, i) * ycomp(j, i));
            const float ang = ::atan2f(ycomp(j, i), xcomp(j, i)) - 1.5708f;
            tris.emplace_back(
                P3f(-sin(ang) * 0.866f * tri_side + xMin + i * x_cell_size +
                        xcomp(j, i),
                    cos(ang) * 0.866f * tri_side + yMin + j * y_cell_size +
                        ycomp(j, i),
                    0),
                P3f(cos(ang) * 0.5f * tri_side + xMin + i * x_cell_size +
                        xcomp(j, i),
                    sin(ang) * 0.5f * tri_side + yMin + j * y_cell_size +
                        ycomp(j, i),
                    0),
                P3f(-cos(ang) * 0.5f * tri_side + xMin + i * x_cell_size +
                        xcomp(j, i),
                    -sin(ang) * 0.5f * tri_side + yMin + j * y_cell_size +
                        ycomp(j, i),
                    0));
        }

    for (auto& t : tris)
    {
        t.computeNormals();
        t.setColor(m_field_color);
    }
}
void CVectorField2D::onUpdateBuffers_Points()
{
    auto& vbd = CRenderizableShaderPoints::m_vertex_buffer_data;
    auto& cbd = CRenderizableShaderPoints::m_color_buffer_data;

    vbd.clear();
    vbd.reserve(xcomp.size());

    const float x_cell_size = (xMax - xMin) / (xcomp.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);

    for (int i = 0; i < xcomp.cols(); i++)
        for (int j = 0; j < xcomp.rows(); j++)
            vbd.emplace_back(
                xMin + i * x_cell_size, yMin + j * y_cell_size, .0f);

    cbd.assign(vbd.size(), m_point_color);
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
     CSerializable objects
  ---------------------------------------------------------------*/
uint8_t CVectorField2D::serializeGetVersion() const { return 0; }
void CVectorField2D::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);

    out << xcomp << ycomp;
    out << xMin << xMax << yMin << yMax;
    out << m_lineWidth;
    out << m_pointSize;
    out << m_antiAliasing;
    out << m_point_color;
    out << m_field_color;
}

void CVectorField2D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
            readFromStreamRender(in);

            in >> xcomp >> ycomp;
            in >> xMin >> xMax >> yMin >> yMax;
            in >> m_lineWidth;
            in >> m_pointSize;
            in >> m_antiAliasing;
            in >> m_point_color;
            in >> m_field_color;
            break;

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

void CVectorField2D::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = xMin;
    bb_min.y = yMin;
    bb_min.z = 0;

    bb_max.x = xMax;
    bb_max.y = yMax;
    bb_max.z = 0;

    const float x_cell_size = (xMax - xMin) / (xcomp.cols() - 1);
    const float y_cell_size = (yMax - yMin) / (ycomp.rows() - 1);

    for (int i = 0; i < xcomp.cols(); i++)
        for (int j = 0; j < xcomp.rows(); j++)
        {
            const float tri_side =
                0.25f *
                sqrt(xcomp(j, i) * xcomp(j, i) + ycomp(j, i) * ycomp(j, i));
            const float ang = ::atan2f(ycomp(j, i), xcomp(j, i)) - 1.5708f;

            if (-sin(ang) * 0.866f * tri_side + xMin + i * x_cell_size +
                    xcomp(j, i) <
                bb_min.x)
                bb_min.x = -sin(ang) * 0.866f * tri_side + xMin +
                           i * x_cell_size + xcomp(j, i);

            if (cos(ang) * 0.866f * tri_side + yMin + j * y_cell_size +
                    ycomp(j, i) <
                bb_min.y)
                bb_min.y = cos(ang) * 0.866f * tri_side + yMin +
                           j * y_cell_size + ycomp(j, i);

            if (-sin(ang) * 0.866f * tri_side + xMin + i * x_cell_size +
                    xcomp(j, i) >
                bb_max.x)
                bb_max.x = -sin(ang) * 0.866f * tri_side + xMin +
                           i * x_cell_size + xcomp(j, i);

            if (cos(ang) * 0.866f * tri_side + yMin + j * y_cell_size +
                    ycomp(j, i) >
                bb_max.y)
                bb_max.y = cos(ang) * 0.866f * tri_side + yMin +
                           j * y_cell_size + ycomp(j, i);
        }

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

void CVectorField2D::adjustVectorFieldToGrid()
{
    ASSERT_(xcomp.size() > 0);

    const float ratio_xp =
        xcomp.maxCoeff() * (xcomp.cols() - 1) / (xMax - xMin);
    const float ratio_xn =
        xcomp.minCoeff() * (xcomp.cols() - 1) / (xMax - xMin);
    const float ratio_yp =
        ycomp.maxCoeff() * (ycomp.rows() - 1) / (yMax - yMin);
    const float ratio_yn =
        ycomp.minCoeff() * (ycomp.rows() - 1) / (yMax - yMin);
    const float norm_factor = 0.85f / max(max(ratio_xp, std::abs(ratio_xn)),
                                          max(ratio_yp, std::abs(ratio_yn)));

    xcomp *= norm_factor;
    ycomp *= norm_factor;
    CRenderizable::notifyChange();
}