COpenGLStandardObject.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/COpenGLStandardObject.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/utils/stl_serialization.h>
#include "opengl_internals.h"

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

IMPLEMENTS_SERIALIZABLE(
        COpenGLStandardObject, CRenderizableDisplayList, mrpt::opengl)

#define COMPILE_TIME_ASSERT(N, expr) char dummy_constraint##N[expr]

#if MRPT_HAS_OPENGL_GLUT
COMPILE_TIME_ASSERT(GLENUM, sizeof(GLenum) == sizeof(_GLENUM));
#endif

/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void renderFunc(TPoint3D p)
{
#if MRPT_HAS_OPENGL_GLUT
        glVertex3f(p.x, p.y, p.z);
#else
        MRPT_UNUSED_PARAM(p);
#endif
}

void COpenGLStandardObject::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        for_each(enabled.begin(), enabled.end(), glEnable);
        glShadeModel(GL_SMOOTH);
        // This line won't take any effect if GL_BLEND is not enabled, so it's safe
        // to always execute it.
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
        if (normal[0] || normal[1] || normal[2])
                glNormal3f(normal[0], normal[1], normal[2]);
        if (chunkSize == 0)
        {
                glBegin(type);
                for_each(vertices.begin(), vertices.end(), renderFunc);
                glEnd();
        }
        else
        {
                std::vector<TPoint3D>::const_iterator it = vertices.begin();
                do
                {
                        glBegin(type);
                        for_each(it, it + chunkSize, renderFunc);
                        it += chunkSize;
                        glEnd();
                } while (it != vertices.end());
        }
        for_each(enabled.begin(), enabled.end(), glDisable);
#endif
}
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void COpenGLStandardObject::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << type << vertices << chunkSize << enabled;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void COpenGLStandardObject::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 1:
                {
                        readFromStreamRender(in);
                        in >> type >> vertices >> chunkSize >> enabled;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}

bool COpenGLStandardObject::traceRay(
        const mrpt::poses::CPose3D& o, double& dist) const
{
        MRPT_UNUSED_PARAM(o);
        MRPT_UNUSED_PARAM(dist);
        // This object isn't intended to hold geometric properties. No trace ray
        // should be performed on it.
        return false;
}

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

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

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

void COpenGLStandardObject::disable(_GLENUM flag)
{
        std::vector<_GLENUM>::iterator it = enabled.begin();
        while (it != enabled.end())
        {
                if (*it == flag)
                        it = enabled.erase(it);
                else
                        ++it;
        }
        CRenderizableDisplayList::notifyChange();
}