CSetOfTexturedTriangles.h

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt::opengl
{
/** A set of textured triangles.
 *  This class can be used to draw any solid, arbitrarily complex object with
 * textures.
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CSetOfTexturedTriangles : public CTexturedObject
{
    DEFINE_SERIALIZABLE(CSetOfTexturedTriangles)

   public:
    /** Triangle vertex. This structure encapsulates the vertex coordinates and
     * the image pixels.
     */
    struct TVertex
    {
        /** Default constructor          */
        TVertex();
        TVertex(float x, float y, float z, uint32_t u, uint32_t v);
        /** 3D vertex coordinates. */
        float m_x, m_y, m_z;
        /** 2D texture coordinates. Notice that the texture coordinates are 2D
         * pixels!!! */
        uint32_t m_u, m_v;
        void writeToStream(mrpt::serialization::CArchive& out) const;
        void readFromStream(mrpt::serialization::CArchive& in);
    };

    /** Triangle. This structure encapsulates the triangle vertices.
     */
    struct TTriangle
    {
        /** Default constructor */
        TTriangle();
        TTriangle(TVertex v1, TVertex v2, TVertex v3);
        /** vertices */
        TVertex m_v1, m_v2, m_v3;
        void writeToStream(mrpt::serialization::CArchive& out) const;
        void readFromStream(mrpt::serialization::CArchive& in);
    };

    /** Evaluates the bounding box of this object (including possible children)
     * in the coordinate frame of the object parent. */
    void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;

   protected:
    /** Triangle array. */
    std::vector<TTriangle> m_triangles;

    void render_texturedobj() const override;

   public:
    void clearTriangles()
    {
        m_triangles.clear();
        CRenderizableDisplayList::notifyChange();
    }
    size_t getTrianglesCount() const { return m_triangles.size(); }
    const TTriangle& getTriangle(size_t idx) const
    {
        ASSERT_(idx < m_triangles.size());
        return m_triangles[idx];
    }
    void getTriangle(size_t idx, TTriangle& t) const
    {
        ASSERT_(idx < m_triangles.size());
        t = m_triangles[idx];
        CRenderizableDisplayList::notifyChange();
    }
    void insertTriangle(const TTriangle& t)
    {
        m_triangles.push_back(t);
        CRenderizableDisplayList::notifyChange();
    }

    virtual bool traceRay(
        const mrpt::poses::CPose3D& o, double& dist) const override;

    /** Constructor
     */
    CSetOfTexturedTriangles() : m_triangles() {}
    /** Private, virtual destructor: only can be deleted from smart pointers */
    virtual ~CSetOfTexturedTriangles();
};

}