CSetOfLines.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/CSetOfLines.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::utils;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CSetOfLines, CRenderizableDisplayList, mrpt::opengl)
 
/** Constructor */
CSetOfLines::CSetOfLines()
        : mSegments(),
          mLineWidth(1.0),
          m_antiAliasing(true),
          m_verticesPointSize(.0f)
{
}
 
/** Constructor with a initial set of lines. */
CSetOfLines::CSetOfLines(const std::vector<TSegment3D>& sgms, bool antiAliasing)
        : mSegments(sgms),
          mLineWidth(1.0),
          m_antiAliasing(antiAliasing),
          m_verticesPointSize(.0f)
{
}
 
/*---------------------------------------------------------------
                                                        setLineByIndex
  ---------------------------------------------------------------*/
void CSetOfLines::setLineByIndex(
        size_t index, const mrpt::math::TSegment3D& segm)
{
        MRPT_START
        if (index >= mSegments.size()) THROW_EXCEPTION("Index out of bounds");
        CRenderizableDisplayList::notifyChange();
        mSegments[index] = segm;
        MRPT_END
}
 
float CSetOfLines::getVerticesPointSize() const { return m_verticesPointSize; }
void CSetOfLines::setVerticesPointSize(const float size_points)
{
        m_verticesPointSize = size_points;
        CRenderizableDisplayList::notifyChange();
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CSetOfLines::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
 
        // Enable antialiasing:
        glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
        if (m_antiAliasing || m_color.A != 255)
        {
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
        }
        if (m_antiAliasing) glEnable(GL_LINE_SMOOTH);
        glLineWidth(mLineWidth);
        checkOpenGLError();
 
        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin(GL_LINES);
        glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
        for (std::vector<TSegment3D>::const_iterator it = mSegments.begin();
                 it != mSegments.end(); ++it)
        {
                glVertex3d(it->point1.x, it->point1.y, it->point1.z);
                glVertex3d(it->point2.x, it->point2.y, it->point2.z);
        }
        glEnd();
        checkOpenGLError();
 
        // Draw vertices?
        if (m_verticesPointSize > 0)
        {
                glPointSize(m_verticesPointSize);
                if (m_antiAliasing)
                        glEnable(GL_POINT_SMOOTH);
                else
                        glDisable(GL_POINT_SMOOTH);
 
                glBegin(GL_POINTS);
                glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
                bool first = true;
                for (const auto& seg : mSegments)
                {
                        if (first)
                        {
                                glVertex3d(seg.point1.x, seg.point1.y, seg.point1.z);
                                first = false;
                        }
                        glVertex3d(seg.point2.x, seg.point2.y, seg.point2.z);
                }
 
                glEnd();
        }
 
        glEnable(GL_LIGHTING);  // Disable lights when drawing lines
 
        // End of antialiasing:
        glPopAttrib();
 
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CSetOfLines::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 4;
        else
        {
                writeToStreamRender(out);
                out << mSegments << mLineWidth;
                out << m_antiAliasing;  // Added in v3
                out << m_verticesPointSize;  // v4
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CSetOfLines::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                {
                        readFromStreamRender(in);
                        CVectorFloat x0, y0, z0, x1, y1, z1;
                        in >> x0 >> y0 >> z0 >> x1 >> y1 >> z1;
                        if (version >= 1)
                                in >> mLineWidth;
                        else
                                mLineWidth = 1;
                        size_t N = x0.size();
                        mSegments.resize(N);
                        for (size_t i = 0; i < N; i++)
                        {
                                mSegments[i][0][0] = x0[i];
                                mSegments[i][0][1] = y0[i];
                                mSegments[i][0][2] = z0[i];
                                mSegments[i][1][0] = x1[i];
                                mSegments[i][1][1] = y1[i];
                                mSegments[i][1][2] = z1[i];
                        }
                }
                break;
                case 2:
                case 3:
                case 4:
                {
                        readFromStreamRender(in);
                        in >> mSegments;
                        in >> mLineWidth;
                        if (version >= 3)
                                in >> m_antiAliasing;
                        else
                                m_antiAliasing = true;
                        if (version >= 4)
                                in >> m_verticesPointSize;
                        else
                                m_verticesPointSize = .0f;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CSetOfLines::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min = mrpt::math::TPoint3D(
                std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
                std::numeric_limits<double>::max());
        bb_max = mrpt::math::TPoint3D(
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max());
 
        for (size_t i = 0; i < mSegments.size(); i++)
        {
                const TSegment3D& s = mSegments[i];
                for (size_t p = 0; p < 2; p++)
                {
                        const TPoint3D& pt = s[p];
                        for (size_t j = 0; j < 3; j++)
                        {
                                keep_min(bb_min[j], pt[j]);
                                keep_max(bb_max[j], pt[j]);
                        }
                }
        }
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}
 
void CSetOfLines::getLineByIndex(
        size_t index, double& x0, double& y0, double& z0, double& x1, double& y1,
        double& z1) const
{
        ASSERT_(index < mSegments.size())
        const mrpt::math::TPoint3D& p0 = mSegments[index].point1;
        const mrpt::math::TPoint3D& p1 = mSegments[index].point2;
        x0 = p0.x;
        y0 = p0.y;
        z0 = p0.z;
        x1 = p1.x;
        y1 = p1.y;
        z1 = p1.z;
}