COpenGLScene.cpp

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

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

#include <mrpt/io/CFileGZInputStream.h>
#include <mrpt/io/CFileGZOutputStream.h>
#include <mrpt/opengl/COpenGLScene.h>
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/metaprogramming_serialization.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::serialization::metaprogramming;
using namespace mrpt::math;
using namespace std;

// Include libraries in linking:
#if MRPT_HAS_OPENGL_GLUT
#ifdef _WIN32
// WINDOWS:
#if defined(_MSC_VER)
#pragma comment(lib, "opengl32.lib")
#pragma comment(lib, "GlU32.lib")
#endif
#endif  // _WIN32
#endif  // MRPT_HAS_OPENGL_GLUT

IMPLEMENTS_SERIALIZABLE(COpenGLScene, CRenderizableDisplayList, mrpt::opengl)

/*---------------------------------------------------------------
                        Constructor
---------------------------------------------------------------*/
COpenGLScene::COpenGLScene() { createViewport("main"); }
/*--------------------------------------------------------------
                    Copy constructor
  ---------------------------------------------------------------*/
COpenGLScene::COpenGLScene(const COpenGLScene& obj) : CSerializable()
{
    (*this) = obj;
}

/*---------------------------------------------------------------
                        Destructor:
 ---------------------------------------------------------------*/
COpenGLScene::~COpenGLScene() { clear(false); }
/*---------------------------------------------------------------
        Clear the scene.
 ---------------------------------------------------------------*/
void COpenGLScene::clear(bool createMainViewport)
{
    m_viewports.clear();

    if (createMainViewport) createViewport("main");
}

/*---------------------------------------------------------------
                          =
 ---------------------------------------------------------------*/
COpenGLScene& COpenGLScene::operator=(const COpenGLScene& obj)
{
    if (this != &obj)
    {
        m_followCamera = obj.m_followCamera;

        clear();
        m_viewports = obj.m_viewports;
        for_each(m_viewports.begin(), m_viewports.end(), [](auto& ptr) {
            // make a unique copy of each object (copied as a shared ptr)
            ptr.reset(
                dynamic_cast<mrpt::opengl::COpenGLViewport*>(ptr->clone()));
        });
    }
    return *this;
}

/*---------------------------------------------------------------
                        render
 ---------------------------------------------------------------*/
void COpenGLScene::render() const
{
    MRPT_START

#if MRPT_HAS_OPENGL_GLUT
    // We need the size of the viewport at the beginning: should be the whole
    // window:
    GLint win_dims[4];
    glGetIntegerv(GL_VIEWPORT, win_dims);

    for (const auto& m_viewport : m_viewports)
        m_viewport->render(win_dims[2], win_dims[3]);

    // Assure we restore the original viewport:
    glViewport(win_dims[0], win_dims[1], win_dims[2], win_dims[3]);

#else
    THROW_EXCEPTION(
        "The MRPT has been compiled with MRPT_HAS_OPENGL_GLUT=0! OpenGL "
        "functions are not implemented");
#endif
    MRPT_END
}

uint8_t COpenGLScene::serializeGetVersion() const { return 1; }
void COpenGLScene::serializeTo(mrpt::serialization::CArchive& out) const
{
    out << m_followCamera;

    uint32_t n;
    n = (uint32_t)m_viewports.size();
    out << n;
    for (const auto& m_viewport : m_viewports) out << *m_viewport;
}

void COpenGLScene::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        {
            // Old style: Just one viewport:
            clear(true);
            COpenGLViewport::Ptr view = m_viewports[0];

            // Load objects:
            uint32_t n;
            in >> n;

            view->clear();
            view->m_objects.resize(n);
            for_each(
                view->m_objects.begin(), view->m_objects.end(),
                ObjectReadFromStream(&in));
        }
        break;
        case 1:
        {
            in >> m_followCamera;

            uint32_t i, n;
            in >> n;
            clear(false);

            for (i = 0; i < n; i++)
            {
                CSerializable::Ptr newObj;
                in >> newObj;

                COpenGLViewport::Ptr newView =
                    std::dynamic_pointer_cast<COpenGLViewport>(newObj);
                newView->m_parent = this;
                m_viewports.push_back(newView);
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

/*---------------------------------------------------------------
                            insert
  ---------------------------------------------------------------*/
void COpenGLScene::insert(
    const CRenderizable::Ptr& newObject, const std::string& viewportName)
{
    MRPT_START
    for (auto& m_viewport : m_viewports)
    {
        if (m_viewport->m_name == viewportName)
        {
            m_viewport->insert(newObject);
            return;
        }
    }
    THROW_EXCEPTION_FMT(
        "Error: viewport '%s' not found.", viewportName.c_str());
    MRPT_END
}

/*---------------------------------------------------------------
                            getByName
  ---------------------------------------------------------------*/
CRenderizable::Ptr COpenGLScene::getByName(
    const string& str, const string& viewportName)
{
    MRPT_UNUSED_PARAM(viewportName);
    CRenderizable::Ptr obj;
    for (auto& m_viewport : m_viewports)
        if ((obj = m_viewport->getByName(str))) break;
    return obj;
}

/*---------------------------------------------------------------
                    initializeAllTextures
  ---------------------------------------------------------------*/
void COpenGLScene::initializeAllTextures()
{
    for (auto& m_viewport : m_viewports) m_viewport->initializeAllTextures();
}

/*--------------------------------------------------------------
                    dumpListOfObjects
  ---------------------------------------------------------------*/
void COpenGLScene::dumpListOfObjects(std::vector<std::string>& lst)
{
    lst.clear();

    for (auto& v : m_viewports)
    {
        lst.emplace_back(string("VIEWPORT: ") + v->m_name);
        lst.emplace_back("============================================");
        v->dumpListOfObjects(lst);
    }
}

/*--------------------------------------------------------------
                    createViewport
  ---------------------------------------------------------------*/
COpenGLViewport::Ptr COpenGLScene::createViewport(const string& viewportName)
{
    MRPT_START

    COpenGLViewport::Ptr old = getViewport(viewportName);
    if (old) return old;

    COpenGLViewport::Ptr theNew =
        COpenGLViewport::Ptr(new COpenGLViewport(this, viewportName));
    m_viewports.push_back(theNew);
    return theNew;

    MRPT_END
}

/*--------------------------------------------------------------
                    getViewport
  ---------------------------------------------------------------*/
COpenGLViewport::Ptr COpenGLScene::getViewport(
    const std::string& viewportName) const
{
    MRPT_START
    for (const auto& m_viewport : m_viewports)
        if (m_viewport->m_name == viewportName) return m_viewport;
    return COpenGLViewport::Ptr();
    MRPT_END
}

/*--------------------------------------------------------------
                    removeObject
  ---------------------------------------------------------------*/
void COpenGLScene::removeObject(
    const CRenderizable::Ptr& obj, const std::string& viewportName)
{
    MRPT_START

    COpenGLViewport::Ptr view = getViewport(viewportName);
    ASSERT_(view);
    view->removeObject(obj);

    MRPT_END
}

bool COpenGLScene::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
    bool found = false;
    double tmp;
    for (const auto& vp : m_viewports)
    {
        for (auto it2 = vp->m_objects.begin(); it2 != vp->m_objects.end();
             ++it2)
            if ((*it2)->traceRay(o, tmp))
            {
                if (!found)
                {
                    found = true;
                    dist = tmp;
                }
                else if (tmp < dist)
                    dist = tmp;
            }
    }
    return found;
}

bool COpenGLScene::saveToFile(const std::string& fil) const
{
    try
    {
        mrpt::io::CFileGZOutputStream f(fil);
        mrpt::serialization::archiveFrom(f) << *this;
        return true;
    }
    catch (...)
    {
        return false;
    }
}

bool COpenGLScene::loadFromFile(const std::string& fil)
{
    try
    {
        mrpt::io::CFileGZInputStream f(fil);
        mrpt::serialization::archiveFrom(f) >> *this;
        return true;
    }
    catch (...)
    {
        return false;
    }
}

/** Evaluates the bounding box of this object (including possible children) in
 * the coordinate frame of the object parent. */
void COpenGLScene::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max,
    const std::string& vpn) const
{
    COpenGLViewport::Ptr vp = this->getViewport(vpn);
    ASSERTMSG_(vp, "No opengl viewport exists with the given name");

    return vp->getBoundingBox(bb_min, bb_max);
}