CRenderizable.h

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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    |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CRenderizable_H
#define opengl_CRenderizable_H

#include <mrpt/utils/CSerializable.h>
#include <mrpt/utils/TColor.h>
#include <mrpt/math/math_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mrpt/opengl/opengl_fonts.h>
#include <mrpt/opengl/link_pragmas.h>
#include <mrpt/math/lightweight_geom_data.h>
#include <deque>

namespace mrpt
{
        namespace opengl
        {
                class COpenGLViewport;
                class CSetOfObjects;


                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CRenderizable, mrpt::utils::CSerializable, OPENGL_IMPEXP )

                /** A list of objects pointers, automatically managing memory free at destructor, and managing copies correctly. */
                typedef std::deque<CRenderizablePtr> CListOpenGLObjects;

                /** The base class of 3D objects that can be directly rendered through OpenGL.
                  *  In this class there are a set of common properties to all 3D objects, mainly:
                  *             - A name (m_name): A name that can be optionally asigned to objects for easing its reference.
                  *             - 6D coordinates (x,y,z,yaw,pitch,roll), relative to the "current" reference framework. By default, any object is referenced to global scene coordinates.
                  *             - A RGB color: This field will be used in simple elements (points, lines, text,...) but is ignored in more complex objects that carry their own color information (triangle sets,...)
                  *  See the main class opengl::COpenGLScene
                  *  \sa opengl::COpenGLScene, mrpt::opengl
                  * \ingroup mrpt_opengl_grp
                  */
                class OPENGL_IMPEXP CRenderizable : public mrpt::utils::CSerializable
                {
                        DEFINE_VIRTUAL_SERIALIZABLE( CRenderizable )

                        friend class mrpt::opengl::COpenGLViewport;
                        friend class mrpt::opengl::CSetOfObjects;

                protected:
                        std::string                             m_name;
                        bool                                    m_show_name;
                        mrpt::utils::TColor             m_color;        //!< Color components in the range [0,255]
                        mrpt::poses::CPose3D    m_pose;                                     //!< 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
                        float                                   m_scale_x, m_scale_y, m_scale_z;                        //!< Scale components to apply to the object (default=1)
                        bool                                    m_visible; //!< Is the object visible? (default=true)

                public:
                        /** @name Changes the appearance of the object to render
                            @{ */

                        void setName(const std::string &n) { m_name=n; }        //!< Changes the name of the object
                        const std::string &getName() const { return m_name; }           //!< Returns the name of the object

                        inline bool isVisible() const /** Is the object visible? \sa setVisibility */  { return m_visible; }
                        inline void setVisibility(bool visible=true) /** Set object visibility (default=true) \sa isVisible */  { m_visible=visible; }

                        inline void enableShowName(bool showName=true) { m_show_name=showName; }        //!< Enables or disables showing the name of the object as a label when rendering
                        inline bool isShowNameEnabled() const { return m_show_name; }   //!< \sa enableShowName

                        CRenderizable& setPose( const mrpt::poses::CPose3D &o );        //!< Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
                        CRenderizable& setPose( const mrpt::poses::CPose2D &o );        //!< Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
                        CRenderizable& setPose( const mrpt::math::TPose3D &o ); //!< Set the 3D pose from a  mrpt::math::TPose3D object (return a ref to this)
                        CRenderizable& setPose( const mrpt::math::TPose2D &o ); //!< Set the 3D pose from a  mrpt::math::TPose3D object (return a ref to this)
                        CRenderizable& setPose( const mrpt::poses::CPoint3D &o );       //!< Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
                        CRenderizable& setPose( const mrpt::poses::CPoint2D &o );       //!< Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

                        mrpt::math::TPose3D getPose() const;    //!< Returns the 3D pose of the object as TPose3D
                        /** Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) */
                        inline const mrpt::poses::CPose3D & getPoseRef() const { return m_pose; }

                        /** Changes the location of the object, keeping untouched the orientation  \return a ref to this */
                        inline CRenderizable& setLocation(double x,double y,double z) { m_pose.x(x); m_pose.y(y); m_pose.z(z); return *this; }

                        /** Changes the location of the object, keeping untouched the orientation  \return a ref to this  */
                        inline CRenderizable& setLocation(const mrpt::math::TPoint3D &p ) { m_pose.x(p.x); m_pose.y(p.y); m_pose.z(p.z); return *this;  }

                        inline double getPoseX() const { return m_pose.x(); } //!< Translation relative to parent coordinate origin.
                        inline double getPoseY() const { return m_pose.y(); } //!< Translation relative to parent coordinate origin.
                        inline double getPoseZ() const { return m_pose.z(); } //!< Translation relative to parent coordinate origin.
                        inline double getPoseYaw() const { return mrpt::utils::RAD2DEG(m_pose.yaw()); } //!< Rotation relative to parent coordinate origin, in **DEGREES**.
                        inline double getPosePitch() const { return mrpt::utils::RAD2DEG(m_pose.pitch()); } //!< Rotation relative to parent coordinate origin, in **DEGREES**.
                        inline double getPoseRoll() const { return mrpt::utils::RAD2DEG(m_pose.roll()); } //!< Rotation relative to parent coordinate origin, in **DEGREES**.
                        inline double getPoseYawRad() const { return m_pose.yaw(); } //!< Rotation relative to parent coordinate origin, in radians.
                        inline double getPosePitchRad() const { return m_pose.pitch(); } //!< Rotation relative to parent coordinate origin, in radians.
                        inline double getPoseRollRad() const { return m_pose.roll(); } //!< Rotation relative to parent coordinate origin, in radians.

                        inline double getColorR() const { return m_color.R/255.; } //!< Color components in the range [0,1]
                        inline double getColorG() const { return m_color.G/255.; } //!< Color components in the range [0,1]
                        inline double getColorB() const { return m_color.B/255.; } //!< Color components in the range [0,1]
                        inline double getColorA() const { return m_color.A/255.; } //!< Color components in the range [0,1]

                        inline uint8_t getColorR_u8() const { return m_color.R; } //!< Color components in the range [0,255]
                        inline uint8_t getColorG_u8() const { return m_color.G; } //!< Color components in the range [0,255]
                        inline uint8_t getColorB_u8() const { return m_color.B; } //!< Color components in the range [0,255]
                        inline uint8_t getColorA_u8() const { return m_color.A; } //!< Color components in the range [0,255]

                        CRenderizable&  setColorR(const double r)       {return setColorR_u8(static_cast<uint8_t>(255*r));}     //!<Color components in the range [0,1] \return a ref to this
                        CRenderizable&  setColorG(const double g)       {return setColorG_u8(static_cast<uint8_t>(255*g));}     //!<Color components in the range [0,1] \return a ref to this
                        CRenderizable&  setColorB(const double b)       {return setColorB_u8(static_cast<uint8_t>(255*b));}     //!<Color components in the range [0,1] \return a ref to this
                        CRenderizable&  setColorA(const double a)       {return setColorA_u8(static_cast<uint8_t>(255*a));}     //!<Color components in the range [0,1] \return a ref to this

                        virtual CRenderizable&  setColorR_u8(const uint8_t r)   {m_color.R=r; return *this;}    //!<Color components in the range [0,255] \return a ref to this
                        virtual CRenderizable&  setColorG_u8(const uint8_t g)   {m_color.G=g; return *this;}    //!<Color components in the range [0,255] \return a ref to this
                        virtual CRenderizable&  setColorB_u8(const uint8_t b)   {m_color.B=b; return *this;}    //!<Color components in the range [0,255] \return a ref to this
                        virtual CRenderizable&  setColorA_u8(const uint8_t a)   {m_color.A=a; return *this;}    //!<Color components in the range [0,255] \return a ref to this

                        inline CRenderizable& setScale(float s)  { m_scale_x=m_scale_y=m_scale_z = s; return *this; } //!< Scale to apply to the object, in all three axes (default=1)  \return a ref to this
                        inline CRenderizable& setScale(float sx,float sy,float sz)  { m_scale_x=sx; m_scale_y=sy; m_scale_z = sz; return *this; } //!< Scale to apply to the object in each axis (default=1)  \return a ref to this
                        inline float getScaleX() const { return m_scale_x; }  //!< Get the current scaling factor in one axis
                        inline float getScaleY() const { return m_scale_y; }  //!< Get the current scaling factor in one axis
                        inline float getScaleZ() const { return m_scale_z; }  //!< Get the current scaling factor in one axis


                        inline mrpt::utils::TColorf getColor() const { return mrpt::utils::TColorf(m_color); }  //!< Returns the object color property as a TColorf
                        CRenderizable& setColor( const mrpt::utils::TColorf &c) //!< Changes the default object color \return a ref to this
                        {
                                return setColor_u8(mrpt::utils::TColor(c.R*255.f,c.G*255.f,c.B*255.f,c.A*255.f));
                        }

                        /** Set the color components of this object (R,G,B,Alpha, in the range 0-1)  \return a ref to this */
                        inline CRenderizable& setColor( double R, double G, double B, double A=1) { return setColor_u8(R*255,G*255,B*255,A*255); }

                        inline const mrpt::utils::TColor &getColor_u8() const { return m_color; }  //!< Returns the object color property as a TColor
                        /*** Changes the default object color \return a ref to this */
                        virtual CRenderizable& setColor_u8( const mrpt::utils::TColor &c);

                        /** Set the color components of this object (R,G,B,Alpha, in the range 0-255)  \return a ref to this */
                        CRenderizable& setColor_u8( uint8_t R, uint8_t G, uint8_t B, uint8_t A=255) { return setColor_u8(mrpt::utils::TColor(R,G,B,A)); }

                        /** @} */


                        /** Default constructor:  */
                        CRenderizable();
                        virtual ~CRenderizable();

                        /** Interface for the stlplus smart pointer class. */
                        inline CRenderizable * clone() const
                        {
                                return static_cast<CRenderizable*>( this->duplicate() );
                        }

                        /** Implements the rendering of 3D objects in each class derived from CRenderizable.
                          */
                        virtual void  render() const = 0;

                        /** Simulation of ray-trace, given a pose. Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned
                          */
                        virtual bool traceRay(const mrpt::poses::CPose3D &o,double &dist) const;


                        /** This method is safe for calling from within ::render() methods \sa renderTextBitmap, mrpt::opengl::gl_utils */
                        static void     renderTextBitmap( const char *str, void *fontStyle );

                        /** Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
                          * \sa renderTextBitmap, mrpt::opengl::gl_utils
                          */
                        static int textBitmapWidth(
                                const std::string &str,
                                mrpt::opengl::TOpenGLFont    font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 );

                        /** Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
                          *   - Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
                          *   - The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
                          *  \sa renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils
                          */
                        static void renderTextBitmap(
                                int screen_x,
                                int screen_y,
                                const std::string &str,
                                float  color_r=1,
                                float  color_g=1,
                                float  color_b=1,
                                mrpt::opengl::TOpenGLFont    font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24
                                );

                        /** Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. */
                        virtual void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const = 0;

                protected:
                        /** Checks glGetError and throws an exception if an error situation is found */
                        static void checkOpenGLError();

                        void  writeToStreamRender(utils::CStream &out) const;
                        void  readFromStreamRender(utils::CStream &in);

                        /** Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).  */
                        static unsigned int getNewTextureNumber();
                        static void releaseTextureName(unsigned int i);

                };
                DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE( CRenderizable, mrpt::utils::CSerializable, OPENGL_IMPEXP )

                /** Applies a mrpt::poses::CPose3D transformation to the object. Note that this method doesn't <i>set</i> the pose to the given value, but <i>combines</i> it with the existing one.
                  * \sa setPose */
                OPENGL_IMPEXP CRenderizablePtr & operator<<(CRenderizablePtr &r,const mrpt::poses::CPose3D &p);

        } // end namespace

} // End of namespace

// This header goes here so there we can use "CRenderizablePtr"
//#include <mrpt/opengl/gl_utils.h>


#endif