CSimpleLine.cpp

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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 |
   +------------------------------------------------------------------------+ */

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

#include <mrpt/opengl/CSimpleLine.h>
#include <mrpt/serialization/CArchive.h>
#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;

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
}

uint8_t CSimpleLine::serializeGetVersion() const { return 1; }
void CSimpleLine::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_x0 << m_y0 << m_z0;
    out << m_x1 << m_y1 << m_z1 << m_lineWidth;
    out << m_antiAliasing;  // Added in v1
}

void CSimpleLine::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t 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);
}