CGeneralizedCylinder.h

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file     |
   | See: https://www.mrpt.org/Authors - All rights reserved.               |
   | Released under BSD License. See: https://www.mrpt.org/License          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/CMatrixDynamic.h>
#include <mrpt/math/geometry.h>
#include <mrpt/opengl/CPolyhedron.h>
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/opengl/CSetOfTriangles.h>
#include <vector>

namespace mrpt::opengl
{
class CGeneralizedCylinder;
/**
 * This object represents any figure obtained by extruding any profile along a
 * given axis. The profile should lie over a x=0 plane, and the axis must be
 * roughly perpendicular to this plane. In particular, it should be almost
 * perpendicular to the Z axis.
 * \ingroup mrpt_opengl_grp
 */
class CGeneralizedCylinder : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CGeneralizedCylinder)
   public:
    /**
     * Auxiliary struct holding any quadrilateral, represented by foour points.
     */
    struct TQuadrilateral
    {
       private:
        /**
         * Automatically compute a vector normal to this quadrilateral.
         */
        void calculateNormal();

       public:
        /**
         * Quadrilateral`'s points.
         */
        mrpt::math::TPoint3D points[4];
        /**
         * Normal vector.
         */
        double normal[3];
        /**
         * Given a polygon with 4 already positions allocated, this method
         * fills it with the quadrilateral points.
         * \sa mrpt::math::TPolygon3D
         */
        inline void getAsPolygonUnsafe(mrpt::math::TPolygon3D& vec) const
        {
            vec[0] = points[0];
            vec[1] = points[1];
            vec[2] = points[2];
            vec[3] = points[3];
        }
        /**
         * Constructor from 4 points.
         */
        TQuadrilateral(
            const mrpt::math::TPoint3D& p1, const mrpt::math::TPoint3D& p2,
            const mrpt::math::TPoint3D& p3, const mrpt::math::TPoint3D& p4)
        {
            points[0] = p1;
            points[1] = p2;
            points[2] = p3;
            points[3] = p4;
            calculateNormal();
        }
        /**
         * Construction from any array of four compatible objects.
         */
        template <class T>
        TQuadrilateral(const T (&p)[4])
        {
            for (int i = 0; i < 4; i++) points[i] = p[i];
            calculateNormal();
        }
        /**
         * Empty constructor. Initializes to garbage.
         */
        TQuadrilateral() = default;
        /**
         * Destructor.
         */
        ~TQuadrilateral() = default;
    };

   protected:
    /** Cylinder's axis. It's represented as a pose because it holds the angle
     * to get to the next pose. */
    std::vector<mrpt::poses::CPose3D> axis;
    /**  Object's generatrix, that is, profile which will be extruded. */
    std::vector<mrpt::math::TPoint3D> generatrix;
    /** Mutable object with mesh information, used to avoid repeated
     * computations.  */
    mutable std::vector<TQuadrilateral> mesh;
    /** Mutable object with the cylinder's points, used to avoid repeated
     * computations. */
    mutable mrpt::math::CMatrixDynamic<mrpt::math::TPoint3D_data> pointsMesh;
    /**  Mutable flag which tells if recalculations are needed. */
    mutable bool meshUpToDate{false};
    /**
     * Mutable set of data used in ray tracing.
     * \sa mrpt::math::TPolygonWithPlane
     */
    mutable std::vector<mrpt::math::TPolygonWithPlane> polys;
    /** Mutable flag telling whether ray tracing temporary data must be
     * recalculated or not. */
    mutable bool polysUpToDate{false};
    /** Boolean variable which determines if the profile is closed at each
     * section. */
    bool closed{false};
    /** Flag to determine whether the object is fully visible or only some
     * sections are. */
    bool fullyVisible{true};
    /**
     * First visible section, if fullyVisible is set to false.
     * \sa fullyVisible,lastSection
     */
    size_t firstSection;
    /**
     * Last visible section, if fullyVisible is set to false.
     * \sa fullyVisible,firstSection
     */
    size_t lastSection;

   public:
    /**
     * Render.
     * \sa mrpt::opengl::CRenderizable
     */
    void render_dl() const override;
    /**
     * Ray tracing.
     * \sa mrpt::opengl::CRenderizable.
     */
    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
    /**
     * Get axis's spatial coordinates.
     */
    inline void getAxis(std::vector<mrpt::math::TPoint3D>& a) const
    {
        // a=axis;
        size_t N = axis.size();
        a.resize(N);
        for (size_t i = 0; i < N; i++)
        {
            a[i].x = axis[i].x();
            a[i].y = axis[i].y();
            a[i].z = axis[i].z();
        }
    }
    /**
     * Get axis, including angular coordinates.
     */
    inline void getAxis(std::vector<mrpt::poses::CPose3D>& a) const
    {
        a = axis;
    }
    /**
     * Set the axis points.
     */
    inline void setAxis(const std::vector<mrpt::math::TPoint3D>& a)
    {
        generatePoses(a, axis);
        meshUpToDate = false;
        fullyVisible = true;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Get cylinder's profile.
     */
    inline void getGeneratrix(std::vector<mrpt::math::TPoint3D>& g) const
    {
        g = generatrix;
    }
    /**
     * Set cylinder's profile.
     */
    inline void setGeneratrix(const std::vector<mrpt::math::TPoint3D>& g)
    {
        generatrix = g;
        meshUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Returns true if each section is a closed polygon.
     */
    inline bool isClosed() const { return closed; }
    /**
     * Set whether each section is a closed polygon or not.
     */
    inline void setClosed(bool c = true)
    {
        closed = c;
        meshUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Get a polyhedron containing the starting point of the cylinder (its
     * "base").
     * \sa getEnd,mrpt::opengl::CPolyhedron
     */
    void getOrigin(CPolyhedron::Ptr& poly) const;
    /**
     * Get a polyhedron containing the ending point of the cylinder (its
     * "base").
     * \sa getOrigin,mrpt::opengl::CPolyhedron
     */
    void getEnd(CPolyhedron::Ptr& poly) const;
    /**
     * Get the cylinder as a set of polygons in 3D.
     * \sa mrpt::math::TPolygon3D
     */
    void generateSetOfPolygons(std::vector<mrpt::math::TPolygon3D>& res) const;
    /**
     * Get a polyhedron consisting of a set of closed sections of the cylinder.
     * \sa mrpt::opengl::CPolyhedron
     */
    void getClosedSection(
        size_t index1, size_t index2, CPolyhedron::Ptr& poly) const;
    /**
     * Get a polyhedron consisting of a single section of the cylinder.
     * \sa mrpt::opengl::CPolyhedron
     */
    inline void getClosedSection(size_t index, CPolyhedron::Ptr& poly) const
    {
        getClosedSection(index, index, poly);
    }
    /**
     * Get the number of sections in this cylinder.
     */
    inline size_t getNumberOfSections() const
    {
        return axis.size() ? (axis.size() - 1) : 0;
    }
    /**
     * Get how many visible sections are in the cylinder.
     */
    inline size_t getVisibleSections() const
    {
        return fullyVisible ? getNumberOfSections()
                            : (lastSection - firstSection);
    }
    /**
     * Gets the cylinder's visible sections.
     */
    void getVisibleSections(size_t& first, size_t& last) const
    {
        if (fullyVisible)
        {
            first = 0;
            last = getNumberOfSections();
        }
        else
        {
            first = firstSection;
            last = lastSection;
        }
    }
    /**
     * Sets all sections visible.
     */
    inline void setAllSectionsVisible()
    {
        fullyVisible = true;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Hides all sections.
     */
    inline void setAllSectionsInvisible(size_t pointer = 0)
    {
        fullyVisible = false;
        firstSection = pointer;
        lastSection = pointer;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Sets which sections are visible.
     * \throw std::logic_error on wrongly defined bounds.
     */
    inline void setVisibleSections(size_t first, size_t last)
    {
        fullyVisible = false;
        if (first > last || last > getNumberOfSections())
            throw std::logic_error("Wrong bound definition");
        firstSection = first;
        lastSection = last;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Adds another visible section at the start of the cylinder. The cylinder
     * must have an invisble section to display.
     * \throw std::logic_error if there is no section to add to the displaying
     * set.
     * \sa
     * addVisibleSectionAtEnd,removeVisibleSectionAtStart,removeVisibleSectionAtEnd
     */
    inline void addVisibleSectionAtStart()
    {
        if (fullyVisible || firstSection == 0)
            throw std::logic_error("No more sections");
        firstSection--;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Adds another visible section at the end of the cylinder. The cylinder
     * must have an invisible section to display.
     * \throw std::logic_error if there is no section to add to the displaying
     * set.
     * \sa
     * addVisibleSectionAtStart,removeVisibleSectionAtStart,removeVisibleSectionAtEnd
     */
    inline void addVisibleSectionAtEnd()
    {
        if (fullyVisible || lastSection == getNumberOfSections())
            throw std::logic_error("No more sections");
        lastSection++;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Removes a visible section from the start of the currently visible set.
     * \throw std::logic_error if there are no visible sections.
     * \sa
     * addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtEnd
     */
    void removeVisibleSectionAtStart();
    /**
     * Removes a visible section from the ending of the currently visible set.
     * \throw std::logic_error when there is no such section.
     * \sa
     * addVisibleSectionAtStart,addVisibleSectionAtEnd,removeVisibleSectionAtStart
     */
    void removeVisibleSectionAtEnd();
    /**
     * Gets the axis pose of the first section, returning false if there is no
     * such pose.
     */
    bool getFirstSectionPose(mrpt::poses::CPose3D& p);
    /**
     * Gets the axis pose of the last section, returning false if there is no
     * such pose.
     */
    bool getLastSectionPose(mrpt::poses::CPose3D& p);
    /**
     * Gets the axis pose of the first visible section, returning false if
     * there is no such pose.
     */
    bool getFirstVisibleSectionPose(mrpt::poses::CPose3D& p);
    /**
     * Gets the axis pose of the last section, returning false if there is no
     * such pose.
     */
    bool getLastVisibleSectionPose(mrpt::poses::CPose3D& p);
    /**
     * Updates the mutable set of polygons used in ray tracing.
     */
    void updatePolys() const;

    /** 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;

   private:
    /**
     * Updates the axis, transforming each point into a pose pointing to the
     * next section.
     */
    void generatePoses(
        const std::vector<mrpt::math::TPoint3D>& pIn,
        std::vector<mrpt::poses::CPose3D>& pOut);
    /**
     * Updates the mutable mesh.
     */
    void updateMesh() const;
    /**
     * Given a vector of polyhedrons, gets the starting and ending iterators to
     * the section to be actually rendered.
     */
    void getMeshIterators(
        const std::vector<TQuadrilateral>& m,
        std::vector<TQuadrilateral>::const_iterator& begin,
        std::vector<TQuadrilateral>::const_iterator& end) const;

   public:
    /**
     * Basic constructor with default initialization.
     */
    CGeneralizedCylinder() : axis(), generatrix(), mesh() {}
    /**
     * Constructor with axis and generatrix.
     */
    CGeneralizedCylinder(
        const std::vector<mrpt::math::TPoint3D>& a,
        const std::vector<mrpt::math::TPoint3D>& g)
        : generatrix(g),
          mesh(),
          meshUpToDate(false),
          polysUpToDate(false),
          closed(false),
          fullyVisible(true)
    {
        generatePoses(a, axis);
    }
    /**
     * Destructor.
     */
    ~CGeneralizedCylinder() override = default;
};
}  // namespace mrpt::opengl