CSetOfLines.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/TSegment3D.h>
#include <mrpt/opengl/CRenderizableDisplayList.h>

namespace mrpt::opengl
{
/** A set of independent lines (or segments), one line with its own start and
 * end positions (X,Y,Z).
 * Optionally, the vertices can be also shown as dots.
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CSetOfLines </td> <td> \image html
 * preview_CSetOfLines.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CSetOfLines : public CRenderizableDisplayList
{
    DEFINE_SERIALIZABLE(CSetOfLines)
   protected:
    std::vector<mrpt::math::TSegment3D> mSegments;
    float mLineWidth{1.0};
    bool m_antiAliasing{true};
    /** 0: means hidden */
    float m_verticesPointSize{.0f};

   public:
    /**
     * Clear the list of segments
     */
    inline void clear()
    {
        mSegments.clear();
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Sets the width with which lines will be drawn.
     */
    inline void setLineWidth(float w)
    {
        mLineWidth = w;
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Gets the width with which lines are drawn.
     */
    float getLineWidth() const { return mLineWidth; }
    float getVerticesPointSize() const;
    /** Enable showing vertices as dots if size_points>0 */
    void setVerticesPointSize(const float size_points);
    /**
     * Appends a line to the set.
     */
    inline void appendLine(const mrpt::math::TSegment3D& sgm)
    {
        mSegments.push_back(sgm);
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Appends a line to the set, given the coordinates of its bounds.
     */
    inline void appendLine(
        float x0, float y0, float z0, float x1, float y1, float z1)
    {
        appendLine(mrpt::math::TSegment3D(
            mrpt::math::TPoint3D(x0, y0, z0),
            mrpt::math::TPoint3D(x1, y1, z1)));
        CRenderizableDisplayList::notifyChange();
    }

    /** Appends a line whose starting point is the end point of the last line
     * (similar to OpenGL's GL_LINE_STRIP)
     *  \exception std::exception If there is no previous segment */
    inline void appendLineStrip(float x, float y, float z)
    {
        ASSERT_(!this->empty());
        this->appendLine(this->rbegin()->point2, mrpt::math::TPoint3D(x, y, z));
    }
    //! \overload
    template <class U>
    inline void appendLineStrip(const U& point)
    {
        ASSERT_(!this->empty());
        this->appendLine(this->rbegin()->point2, point);
    }

    /**
     * Appends any iterable collection of lines to the set. Note that this
     * includes another CSetOfLines.
     * \sa appendLine
     */
    template <class T>
    inline void appendLines(const T& sgms)
    {
        mSegments.insert(mSegments.end(), sgms.begin(), sgms.end());
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Appends certain amount of lines, located between two iterators, into the
     * set.
     * \sa appendLine
     */
    template <class T_it>
    inline void appendLines(const T_it& begin, const T_it& end)
    {
        mSegments.reserve(mSegments.size() + (end - begin));
        mSegments.insert(mSegments.end(), begin, end);
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Resizes the set.
     * \sa reserve
     */
    void resize(size_t nLines)
    {
        mSegments.resize(nLines);
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Reserves an amount of lines to the set. This method should be used when
     * some known amount of lines is going to be inserted, so that only a memory
     * allocation is needed.
     * \sa resize
     */
    void reserve(size_t r)
    {
        mSegments.reserve(r);
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Inserts a line, given its bounds. Works with any pair of objects with
     * access to x, y and z members.
     */
    template <class T, class U>
    inline void appendLine(T p0, U p1)
    {
        appendLine(p0.x, p0.y, p0.z, p1.x, p1.y, p1.z);
        CRenderizableDisplayList::notifyChange();
    }
    /** Returns the total count of lines in this set. */
    inline size_t getLineCount() const { return mSegments.size(); }
    /** Returns the total count of lines in this set. */
    inline size_t size() const { return mSegments.size(); }
    /** Returns true if there are no line segments. */
    inline bool empty() const { return mSegments.empty(); }
    /**
     * Sets a specific line in the set, given its index.
     * \sa appendLine
     */
    void setLineByIndex(size_t index, const mrpt::math::TSegment3D& segm);
    /**
     * Sets a specific line in the set, given its index.
     * \sa appendLine
     */
    inline void setLineByIndex(
        size_t index, double x0, double y0, double z0, double x1, double y1,
        double z1)
    {
        setLineByIndex(
            index, mrpt::math::TSegment3D(
                       mrpt::math::TPoint3D(x0, y0, z0),
                       mrpt::math::TPoint3D(x1, y1, z1)));
        CRenderizableDisplayList::notifyChange();
    }
    /**
     * Gets a specific line in the set, given its index.
     * \sa getLineByIndex
     */
    void getLineByIndex(
        size_t index, double& x0, double& y0, double& z0, double& x1,
        double& y1, double& z1) const;

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

    // Iterator management
    using iterator = std::vector<mrpt::math::TSegment3D>::iterator;
    using reverse_iterator =
        std::vector<mrpt::math::TSegment3D>::reverse_iterator;
    using const_iterator = std::vector<mrpt::math::TSegment3D>::const_iterator;
    using const_reverse_iterator =
        std::vector<mrpt::math::TSegment3D>::const_reverse_iterator;
    /**
     * Beginning const iterator.
     * \sa end,rbegin,rend
     */
    inline const_iterator begin() const { return mSegments.begin(); }
    inline iterator begin()
    {
        CRenderizableDisplayList::notifyChange();
        return mSegments.begin();
    }
    /**
     * Ending const iterator.
     * \sa begin,rend,rbegin
     */
    inline const_iterator end() const { return mSegments.end(); }
    inline iterator end()
    {
        CRenderizableDisplayList::notifyChange();
        return mSegments.end();
    }
    /**
     * Beginning const reverse iterator (actually, accesses the end of the
     * set).
     * \sa rend,begin,end
     */
    inline const_reverse_iterator rbegin() const { return mSegments.rbegin(); }
    /**
     * Ending const reverse iterator (actually, refers to the starting point of
     * the set).
     * \sa rbegin,end,begin
     */
    inline const_reverse_iterator rend() const { return mSegments.rend(); }
    /** 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;

    void enableAntiAliasing(bool enable = true)
    {
        m_antiAliasing = enable;
        CRenderizableDisplayList::notifyChange();
    }
    bool isAntiAliasingEnabled() const { return m_antiAliasing; }
    /** Constructor */
    CSetOfLines();
    /** Constructor with a initial set of lines. */
    CSetOfLines(
        const std::vector<mrpt::math::TSegment3D>& sgms,
        bool antiAliasing = true);
    /** Private, virtual destructor: only can be deleted from smart pointers. */
    ~CSetOfLines() override = default;
};
/** Inserts a set of segments into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfLines::appendLines
 */
template <class T>
inline CSetOfLines::Ptr& operator<<(CSetOfLines::Ptr& l, const T& s)
{
    l->appendLines(s.begin(), s.end());
    return l;
}
/** Inserts a segment into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfLines::appendLine(const TSegment &)
 */
template <>
inline CSetOfLines::Ptr& operator<<(
    CSetOfLines::Ptr& l, const mrpt::math::TSegment3D& s)
{
    l->appendLine(s);
    return l;
}
}  // namespace mrpt::opengl