CSimpleLine.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/CSimpleLine.h>
#include <mrpt/utils/CStream.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(CSimpleLine, CRenderizableDisplayList, mrpt::opengl)

CSimpleLine::Ptr CSimpleLine::Create(
        float x0, float y0, float z0, float x1, float y1, float z1, float lineWidth)
{
        return CSimpleLine::Ptr(new CSimpleLine(x0, y0, z0, x1, y1, z1, lineWidth));
}

CSimpleLine::CSimpleLine(
        float x0, float y0, float z0, float x1, float y1, float z1, float lineWidth,
        bool antiAliasing)
        : m_x0(x0),
          m_y0(y0),
          m_z0(z0),
          m_x1(x1),
          m_y1(y1),
          m_z1(z1),
          m_lineWidth(lineWidth),
          m_antiAliasing(antiAliasing)
{
}

/*---------------------------------------------------------------
                                                        render_dl
  ---------------------------------------------------------------*/
void CSimpleLine::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        // Enable antialiasing:
        if (m_antiAliasing)
        {
                glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
                glEnable(GL_LINE_SMOOTH);
        }
        glLineWidth(m_lineWidth);

        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin(GL_LINES);

        glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
        glVertex3f(m_x0, m_y0, m_z0);
        glVertex3f(m_x1, m_y1, m_z1);

        glEnd();
        checkOpenGLError();
        glEnable(GL_LIGHTING);  // Disable lights when drawing lines

        // End antialiasing:
        if (m_antiAliasing)
        {
                glPopAttrib();
                checkOpenGLError();
        }
#endif
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CSimpleLine::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << m_x0 << m_y0 << m_z0;
                out << m_x1 << m_y1 << m_z1 << m_lineWidth;
                out << m_antiAliasing;  // Added in v1
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CSimpleLine::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 1:
                {
                        readFromStreamRender(in);
                        in >> m_x0 >> m_y0 >> m_z0;
                        in >> m_x1 >> m_y1 >> m_z1 >> m_lineWidth;
                        if (version >= 1)
                                in >> m_antiAliasing;
                        else
                                m_antiAliasing = true;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}

void CSimpleLine::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = std::min(m_x0, m_x1);
        bb_min.y = std::min(m_y0, m_y1);
        bb_min.z = std::min(m_z0, m_z1);

        bb_max.x = std::max(m_x0, m_x1);
        bb_max.y = std::max(m_y0, m_y1);
        bb_max.z = std::max(m_z0, m_z1);

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