CSetOfTexturedTriangles.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/CSetOfTexturedTriangles.h>
#include <mrpt/utils/CStream.h>

#include "opengl_internals.h"

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

IMPLEMENTS_SERIALIZABLE(
        CSetOfTexturedTriangles, CRenderizableDisplayList, mrpt::opengl)

/*---------------------------------------------------------------
                                                        ~CTexturedPlane
  ---------------------------------------------------------------*/
CSetOfTexturedTriangles::~CSetOfTexturedTriangles() {}
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CSetOfTexturedTriangles::render_texturedobj() const
{
#if MRPT_HAS_OPENGL_GLUT
        MRPT_START

        glShadeModel(GL_SMOOTH);

        glBegin(GL_TRIANGLES);

        float ax, ay, az, bx, by, bz;

        vector<TTriangle>::const_iterator it;
        for (it = m_triangles.begin(); it != m_triangles.end(); ++it)
        {
                // Compute the normal vector:
                // ---------------------------------
                ax = it->m_v2.m_x - it->m_v1.m_x;
                ay = it->m_v2.m_y - it->m_v1.m_y;
                az = it->m_v2.m_z - it->m_v1.m_z;

                bx = it->m_v3.m_x - it->m_v1.m_x;
                by = it->m_v3.m_y - it->m_v1.m_y;
                bz = it->m_v3.m_z - it->m_v1.m_z;

                glNormal3f(ay * bz - az * by, -ax * bz + az * bx, ax * by - ay * bx);

                glTexCoord2d(
                        float(it->m_v1.m_u) / r_width, float(it->m_v1.m_v) / r_height);
                glVertex3f(it->m_v1.m_x, it->m_v1.m_y, it->m_v1.m_z);
                glTexCoord2d(
                        float(it->m_v2.m_u) / r_width, float(it->m_v2.m_v) / r_height);
                glVertex3f(it->m_v2.m_x, it->m_v2.m_y, it->m_v2.m_z);
                glTexCoord2d(
                        float(it->m_v3.m_u) / r_width, float(it->m_v3.m_v) / r_height);
                glVertex3f(it->m_v3.m_x, it->m_v3.m_y, it->m_v3.m_z);
        }

        glEnd();

        MRPT_END
#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CSetOfTexturedTriangles::writeToStream(
        mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 2;
        else
        {
                uint32_t n;

                writeToStreamRender(out);
                writeToStreamTexturedObject(out);

                n = (uint32_t)m_triangles.size();

                out << n;

                for (uint32_t i = 0; i < n; i++) m_triangles[i].writeToStream(out);
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CSetOfTexturedTriangles::readFromStream(
        mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                case 2:
                {
                        readFromStreamRender(in);
                        if (version >= 2)
                        {
                                readFromStreamTexturedObject(in);
                        }
                        else
                        {  // Old version.
                                in >> CTexturedObject::m_textureImage;
                                in >> CTexturedObject::m_enableTransparency;
                                if (CTexturedObject::m_enableTransparency)
                                {
                                        in >> CTexturedObject::m_textureImageAlpha;
                                        assignImage(
                                                CTexturedObject::m_textureImage,
                                                CTexturedObject::m_textureImageAlpha);
                                }
                                else
                                        assignImage(CTexturedObject::m_textureImage);
                        }

                        uint32_t n;
                        in >> n;
                        m_triangles.resize(n);

                        for (uint32_t i = 0; i < n; i++) m_triangles[i].readFromStream(in);
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}

bool CSetOfTexturedTriangles::traceRay(
        const mrpt::poses::CPose3D& o, double& dist) const
{
        MRPT_UNUSED_PARAM(o);
        MRPT_UNUSED_PARAM(dist);
        throw std::runtime_error(
                "TODO: TraceRay not implemented in CSetOfTexturedTriangles");
}

void CSetOfTexturedTriangles::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 < m_triangles.size(); i++)
        {
                const TTriangle& t = m_triangles[i];

                keep_min(bb_min.x, t.m_v1.m_x);
                keep_max(bb_max.x, t.m_v1.m_x);
                keep_min(bb_min.y, t.m_v1.m_y);
                keep_max(bb_max.y, t.m_v1.m_y);
                keep_min(bb_min.z, t.m_v1.m_z);
                keep_max(bb_max.z, t.m_v1.m_z);

                keep_min(bb_min.x, t.m_v2.m_x);
                keep_max(bb_max.x, t.m_v2.m_x);
                keep_min(bb_min.y, t.m_v2.m_y);
                keep_max(bb_max.y, t.m_v2.m_y);
                keep_min(bb_min.z, t.m_v2.m_z);
                keep_max(bb_max.z, t.m_v2.m_z);

                keep_min(bb_min.x, t.m_v3.m_x);
                keep_max(bb_max.x, t.m_v3.m_x);
                keep_min(bb_min.y, t.m_v3.m_y);
                keep_max(bb_max.y, t.m_v3.m_y);
                keep_min(bb_min.z, t.m_v3.m_z);
                keep_max(bb_max.z, t.m_v3.m_z);
        }

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

CSetOfTexturedTriangles::TVertex::TVertex()
        : m_x(0.0), m_y(0.0), m_z(0.0), m_u(0), m_v(0)
{
}

CSetOfTexturedTriangles::TVertex::TVertex(
        float x, float y, float z, uint32_t u, uint32_t v)
        : m_x(x), m_y(y), m_z(z), m_u(u), m_v(v)
{
}

void CSetOfTexturedTriangles::TVertex::writeToStream(
        mrpt::utils::CStream& out) const
{
        out << m_x << m_y << m_z << m_u << m_v;
}
void CSetOfTexturedTriangles::TVertex::readFromStream(mrpt::utils::CStream& in)
{
        in >> m_x >> m_y >> m_z >> m_u >> m_v;
}

CSetOfTexturedTriangles::TTriangle::TTriangle() {}
CSetOfTexturedTriangles::TTriangle::TTriangle(
        TVertex v1, TVertex v2, TVertex v3)
        : m_v1(v1), m_v2(v2), m_v3(v3)
{
}

void CSetOfTexturedTriangles::TTriangle::writeToStream(
        mrpt::utils::CStream& out) const
{
        m_v1.writeToStream(out);
        m_v2.writeToStream(out);
        m_v3.writeToStream(out);
}
void CSetOfTexturedTriangles::TTriangle::readFromStream(
        mrpt::utils::CStream& in)
{
        m_v1.readFromStream(in);
        m_v2.readFromStream(in);
        m_v3.readFromStream(in);
}