CVectorField3D.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/CVectorField3D.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(CVectorField3D, CRenderizableDisplayList, mrpt::opengl)
 
/** Constructor */
CVectorField3D::CVectorField3D()
    : x_vf(0, 0),
      y_vf(0, 0),
      z_vf(0, 0),
      x_p(0, 0),
      y_p(0, 0),
      z_p(0, 0),
      m_LineWidth(1.0),
      m_pointSize(1.0),
      m_antiAliasing(true),
      m_colorFromModule(false),
      m_showPoints(true)
{
    m_point_color = m_color;
    m_field_color = m_color;
    m_still_color = m_color;
    m_maxspeed_color = m_color;
    m_maxspeed = 1.f;
}
 
/** Constructor with a initial set of lines. */
CVectorField3D::CVectorField3D(
    CMatrixFloat x_vf_ini, CMatrixFloat y_vf_ini, CMatrixFloat z_vf_ini,
    CMatrixFloat x_p_ini, CMatrixFloat y_p_ini, CMatrixFloat z_p_ini)
    : m_LineWidth(1.0),
      m_pointSize(1.0),
      m_antiAliasing(true),
      m_colorFromModule(false),
      m_showPoints(true)
{
    x_vf = x_vf_ini;
    y_vf = y_vf_ini;
    z_vf = z_vf_ini;
    x_p = x_p_ini;
    y_p = y_p_ini;
    z_p = z_p_ini;
    m_point_color = m_color;
    m_field_color = m_color;
    m_still_color = m_color;
    m_maxspeed_color = m_color;
    m_maxspeed = 1.f;
}
 
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CVectorField3D::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);
        glEnable(GL_POINT_SMOOTH);
    }
 
    glLineWidth(m_LineWidth);
    glPointSize(m_pointSize);
 
    checkOpenGLError();
 
    glDisable(GL_LIGHTING);  // Disable lights when drawing lines
 
    if (m_showPoints)
    {
        glBegin(GL_POINTS);
        glColor4ub(
            m_point_color.R, m_point_color.G, m_point_color.B, m_point_color.A);
 
        for (unsigned int i = 0; i < x_p.cols(); i++)
            for (unsigned int j = 0; j < x_p.rows(); j++)
            {
                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
            }
 
        glEnd();
    }
 
    glBegin(GL_LINES);
    if (m_colorFromModule == false)
    {
        glColor4ub(
            m_field_color.R, m_field_color.G, m_field_color.B, m_field_color.A);
        for (unsigned int i = 0; i < x_vf.cols(); i++)
            for (unsigned int j = 0; j < x_vf.rows(); j++)
            {
                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
                glVertex3f(
                    x_p(j, i) + x_vf(j, i), y_p(j, i) + y_vf(j, i),
                    z_p(j, i) + z_vf(j, i));
            }
    }
    else
    {
        for (unsigned int i = 0; i < x_vf.cols(); i++)
            for (unsigned int j = 0; j < x_vf.rows(); j++)
            {
                // Compute color
                const float module = sqrt(
                    square(x_vf(j, i)) + square(y_vf(j, i)) +
                    square(z_vf(j, i)));
                if (module > m_maxspeed)
                    glColor4ub(
                        m_maxspeed_color.R, m_maxspeed_color.G,
                        m_maxspeed_color.B, m_maxspeed_color.A);
                else
                {
                    const float R =
                        (m_maxspeed - module) * m_still_color.R / m_maxspeed +
                        module * m_maxspeed_color.R / m_maxspeed;
                    const float G =
                        (m_maxspeed - module) * m_still_color.G / m_maxspeed +
                        module * m_maxspeed_color.G / m_maxspeed;
                    const float B =
                        (m_maxspeed - module) * m_still_color.B / m_maxspeed +
                        module * m_maxspeed_color.B / m_maxspeed;
                    const float A =
                        (m_maxspeed - module) * m_still_color.A / m_maxspeed +
                        module * m_maxspeed_color.A / m_maxspeed;
                    glColor4ub(R, G, B, A);
                }
 
                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
                glVertex3f(
                    x_p(j, i) + x_vf(j, i), y_p(j, i) + y_vf(j, i),
                    z_p(j, i) + z_vf(j, i));
            }
    }
    glEnd();
 
    //******** Future ************
    //  glBegin(GL_TRIANGLES);
    //  glColor4ub( m_field_color.R, m_field_color.G, m_field_color.B,
    // m_field_color.A);
    //  for (unsigned int i=0; i<xcomp.cols(); i++)
    //      for (unsigned int j=0; j<xcomp.rows(); j++)
    //      {
    //          const float tri_side = 0.25*sqrt(xcomp(j,i)*xcomp(j,i) +
    // ycomp(j,i)*ycomp(j,i));
    //          const float ang = ::atan2(ycomp(j,i), xcomp(j,i)) - 1.5708;
    //          glVertex3f( -sin(ang)*0.866*tri_side + xMin+i*x_cell_size +
    // xcomp(j,i), cos(ang)*0.866*tri_side + yMin+j*y_cell_size + ycomp(j,i),
    // 0);
    //          glVertex3f( cos(ang)*0.5*tri_side + xMin+i*x_cell_size +
    // xcomp(j,i),
    // sin(ang)*0.5*tri_side + yMin+j*y_cell_size + ycomp(j,i), 0);
    //          glVertex3f( -cos(ang)*0.5*tri_side + xMin+i*x_cell_size +
    // xcomp(j,i), -sin(ang)*0.5*tri_side + yMin+j*y_cell_size + ycomp(j,i), 0);
    //      }
    //  glEnd();
 
    checkOpenGLError();
    glEnable(GL_LIGHTING);  // Disable lights when drawing lines
 
    // End of antialiasing:
    glPopAttrib();
 
#endif
}
 
uint8_t CVectorField3D::serializeGetVersion() const { return 0; }
void CVectorField3D::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
 
    out << x_vf << y_vf << z_vf;
    out << x_p << y_p << z_p;
    out << m_LineWidth;
    out << m_pointSize;
    out << m_antiAliasing;
    out << m_point_color;
    out << m_field_color;
}
void CVectorField3D::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
            readFromStreamRender(in);
 
            in >> x_vf >> y_vf >> z_vf;
            in >> x_p >> y_p >> z_p;
            in >> m_LineWidth;
            in >> m_pointSize;
            in >> m_antiAliasing;
            in >> m_point_color;
            in >> m_field_color;
            break;
 
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
            break;
    };
    CRenderizableDisplayList::notifyChange();
}
 
void CVectorField3D::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = 10e10;
    bb_min.y = 10e10;
    bb_min.z = 10e10;
    bb_max.x = -10e10;
    bb_max.y = -10e10;
    bb_max.z = -10e10;
 
    for (unsigned int i = 0; i < x_p.cols(); i++)
        for (unsigned int j = 0; j < x_p.rows(); j++)
        {
            // Minimum values
            if (x_p(j, i) < bb_min.x) bb_min.x = x_p(j, i);
 
            if (x_p(j, i) + x_vf(j, i) < bb_min.x)
                bb_min.x = x_p(j, i) + x_vf(j, i);
 
            if (y_p(j, i) < bb_min.y) bb_min.y = y_p(j, i);
 
            if (y_p(j, i) + y_vf(j, i) < bb_min.y)
                bb_min.y = y_p(j, i) + y_vf(j, i);
 
            if (z_p(j, i) < bb_min.z) bb_min.z = z_p(j, i);
 
            if (z_p(j, i) + z_vf(j, i) < bb_min.z)
                bb_min.z = z_p(j, i) + z_vf(j, i);
 
            // Maximum values
            if (x_p(j, i) > bb_max.x) bb_max.x = x_p(j, i);
 
            if (x_p(j, i) + x_vf(j, i) > bb_max.x)
                bb_max.x = x_p(j, i) + x_vf(j, i);
 
            if (y_p(j, i) > bb_max.y) bb_max.y = y_p(j, i);
 
            if (y_p(j, i) + y_vf(j, i) > bb_max.y)
                bb_max.y = y_p(j, i) + y_vf(j, i);
 
            if (z_p(j, i) > bb_max.z) bb_max.z = z_p(j, i);
 
            if (z_p(j, i) + z_vf(j, i) > bb_max.z)
                bb_max.z = z_p(j, i) + z_vf(j, i);
        }
 
    // Convert to coordinates of my parent:
    m_pose.composePoint(bb_min, bb_min);
    m_pose.composePoint(bb_max, bb_max);
}