CMesh.h

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/* +------------------------------------------------------------------------+
   |                     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/img/CImage.h>
#include <mrpt/img/color_maps.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/opengl/CSetOfTriangles.h>

namespace mrpt::opengl
{
/** A planar (XY) grid where each cell has an associated height and, optionally,
 * a texture map.
 *  A typical usage example would be an elevation map or a 3D model of a
 * terrain.
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CMesh </td> <td> \image html preview_CMesh.png
 * </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CMesh : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CMesh)
   public:
    struct TTriangleVertexIndices
    {
        size_t vind[3];
    };

   protected:
    mrpt::img::CImage m_textureImage;

    bool m_enableTransparency;
    bool m_colorFromZ{false};
    bool m_isWireFrame{false};
    bool m_isImage{false};

    /** Z(x,y): Z-coordinate of the point (x,y) */
    math::CMatrixF Z;
    math::CMatrixF mask;
    /** Texture coordinates */
    math::CMatrixF U, V;
    /** Grayscale Color [0,1] for each cell, updated by updateColorsMatrix */
    mutable math::CMatrixF C;
    /** Red Component of the Color [0,1] for each cell, updated by
     * updateColorsMatrix */
    mutable math::CMatrixF C_r;
    /** Green Component of the  Color [0,1] for each cell, updated by
     * updateColorsMatrix */
    mutable math::CMatrixF C_g;
    /** Blue Component of the  Color [0,1] for each cell, updated by
     * updateColorsMatrix */
    mutable math::CMatrixF C_b;

    /** Used when m_colorFromZ is true */
    mrpt::img::TColormap m_colorMap{mrpt::img::cmHOT};

    /** Whether C is not up-to-date wrt to Z */
    mutable bool m_modified_Z{true};
    /** Whether C is not up-to-date wrt to the texture image */
    mutable bool m_modified_Image{false};

    /** Called internally to assure C is updated. */
    void updateColorsMatrix() const;
    /** Called internally to assure the triangle list is updated. */
    void updateTriangles() const;
    void updatePolygons() const;  //<!Called internally to assure that the
    // polygon list is updated.

    /** Mesh bounds */
    float xMin, xMax, yMin, yMax;
    /** List of triangles in the mesh */
    mutable std::vector<
        std::pair<CSetOfTriangles::TTriangle, TTriangleVertexIndices>>
        actualMesh;
    /** The accumulated normals & counts for each vertex, so normals can be
     * averaged. */
    mutable std::vector<std::pair<mrpt::math::TPoint3D, size_t>> vertex_normals;
    /**Whether the actual mesh needs to be recalculated */
    mutable bool trianglesUpToDate{false};
    /**Whether the polygon mesh (auxiliary structure for ray tracing) needs to
     * be recalculated */
    mutable bool polygonsUpToDate{false};
    mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPolys;

   public:
    void setGridLimits(float xmin, float xmax, float ymin, float ymax)
    {
        xMin = xmin;
        xMax = xmax;
        yMin = ymin;
        yMax = ymax;
        CRenderizableDisplayList::notifyChange();
    }

    void getGridLimits(float& xmin, float& xmax, float& ymin, float& ymax) const
    {
        xmin = xMin;
        xmax = xMax;
        ymin = yMin;
        ymax = yMax;
    }

    void enableTransparency(bool v)
    {
        m_enableTransparency = v;
        CRenderizableDisplayList::notifyChange();
    }
    void enableWireFrame(bool v)
    {
        m_isWireFrame = v;
        CRenderizableDisplayList::notifyChange();
    }
    void enableColorFromZ(
        bool v, mrpt::img::TColormap colorMap = mrpt::img::cmHOT)
    {
        m_colorFromZ = v;
        m_colorMap = colorMap;
        CRenderizableDisplayList::notifyChange();
    }

    /** This method sets the matrix of heights for each position (cell) in the
     * mesh grid */
    void setZ(const mrpt::math::CMatrixDynamic<float>& in_Z);

    /** Returns a reference to the internal Z matrix, allowing changing it
     * efficiently */
    inline void getZ(mrpt::math::CMatrixFloat& out) const { out = Z; }
    /** Returns a reference to the internal mask matrix, allowing changing it
     * efficiently */
    inline void getMask(mrpt::math::CMatrixFloat& out) const { out = mask; }
    /** This method sets the boolean mask of valid heights for each position
     * (cell) in the mesh grid */
    void setMask(const mrpt::math::CMatrixDynamic<float>& in_mask);

    /** Sets the (u,v) texture coordinates (in range [0,1]) for each cell */
    void setUV(
        const mrpt::math::CMatrixDynamic<float>& in_U,
        const mrpt::math::CMatrixDynamic<float>& in_V);

    inline float getXMin() const { return xMin; }
    inline float getXMax() const { return xMax; }
    inline float getYMin() const { return yMin; }
    inline float getYMax() const { return yMax; }
    inline void setXMin(const float nxm)
    {
        xMin = nxm;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    inline void setXMax(const float nxm)
    {
        xMax = nxm;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    inline void setYMin(const float nym)
    {
        yMin = nym;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    inline void setYMax(const float nym)
    {
        yMax = nym;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    inline void getXBounds(float& min, float& max) const
    {
        min = xMin;
        max = xMax;
    }
    inline void getYBounds(float& min, float& max) const
    {
        min = yMin;
        max = yMax;
    }
    inline void setXBounds(const float min, const float max)
    {
        xMin = min;
        xMax = max;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }
    inline void setYBounds(const float min, const float max)
    {
        yMin = min;
        yMax = max;
        trianglesUpToDate = false;
        CRenderizableDisplayList::notifyChange();
    }

    /** Render
     */
    void render_dl() const override;

    /** 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;

    /** Assigns a texture image, and disable transparency.
     */
    void assignImage(const mrpt::img::CImage& img);

    /** Assigns a texture image and Z simultaneously, and disable transparency.
     */
    void assignImageAndZ(
        const mrpt::img::CImage& img,
        const mrpt::math::CMatrixDynamic<float>& in_Z);

    /** Adjust grid limits according to the image aspect ratio, maintaining the
     * X limits and resizing in the Y direction.
     */
    inline void adjustGridToImageAR()
    {
        ASSERT_(m_isImage);
        const float ycenter = 0.5 * (yMin + yMax);
        const float xwidth = xMax - xMin;
        const float newratio = float(m_textureImage.getWidth()) /
                               float(m_textureImage.getHeight());
        yMax = ycenter + 0.5 * newratio * xwidth;
        yMin = ycenter - 0.5 * newratio * xwidth;
        CRenderizableDisplayList::notifyChange();
    }

    /** Trace ray
     */
    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

    /** Constructor  */
    CMesh(
        bool enableTransparency = false, float xMin = 0.0f, float xMax = 0.0f,
        float yMin = 0.0f, float yMax = 0.0f);

    /** Private, virtual destructor: only can be deleted from smart pointers */
    ~CMesh() override;
};

}  // namespace mrpt::opengl