CSetOfTexturedTriangles.cpp

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

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

#include <mrpt/opengl/CSetOfTexturedTriangles.h>
#include <mrpt/serialization/CArchive.h>

#include "opengl_internals.h"

using namespace std;
using namespace mrpt;
using namespace mrpt::opengl;

using namespace mrpt::math;

IMPLEMENTS_SERIALIZABLE(
    CSetOfTexturedTriangles, CRenderizableDisplayList, mrpt::opengl)

/*---------------------------------------------------------------
                            ~CTexturedPlane
  ---------------------------------------------------------------*/
CSetOfTexturedTriangles::~CSetOfTexturedTriangles() = default;
/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void CSetOfTexturedTriangles::render_texturedobj() const
{
#if MRPT_HAS_OPENGL_GLUT
    MRPT_START

    glShadeModel(GL_SMOOTH);

    glBegin(GL_TRIANGLES);

    float ax, ay, az, bx, by, bz;

    vector<TTriangle>::const_iterator it;
    for (it = m_triangles.begin(); it != m_triangles.end(); ++it)
    {
        // Compute the normal vector:
        // ---------------------------------
        ax = it->m_v2.m_x - it->m_v1.m_x;
        ay = it->m_v2.m_y - it->m_v1.m_y;
        az = it->m_v2.m_z - it->m_v1.m_z;

        bx = it->m_v3.m_x - it->m_v1.m_x;
        by = it->m_v3.m_y - it->m_v1.m_y;
        bz = it->m_v3.m_z - it->m_v1.m_z;

        glNormal3f(ay * bz - az * by, -ax * bz + az * bx, ax * by - ay * bx);

        glTexCoord2d(
            float(it->m_v1.m_u) / r_width, float(it->m_v1.m_v) / r_height);
        glVertex3f(it->m_v1.m_x, it->m_v1.m_y, it->m_v1.m_z);
        glTexCoord2d(
            float(it->m_v2.m_u) / r_width, float(it->m_v2.m_v) / r_height);
        glVertex3f(it->m_v2.m_x, it->m_v2.m_y, it->m_v2.m_z);
        glTexCoord2d(
            float(it->m_v3.m_u) / r_width, float(it->m_v3.m_v) / r_height);
        glVertex3f(it->m_v3.m_x, it->m_v3.m_y, it->m_v3.m_z);
    }

    glEnd();

    MRPT_END
#endif
}

uint8_t CSetOfTexturedTriangles::serializeGetVersion() const { return 2; }
void CSetOfTexturedTriangles::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    uint32_t n;

    writeToStreamRender(out);
    writeToStreamTexturedObject(out);

    n = (uint32_t)m_triangles.size();

    out << n;

    for (uint32_t i = 0; i < n; i++) m_triangles[i].writeToStream(out);
}

void CSetOfTexturedTriangles::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        case 2:
        {
            readFromStreamRender(in);
            if (version >= 2)
            {
                readFromStreamTexturedObject(in);
            }
            else
            {  // Old version.
                in >> CTexturedObject::m_textureImage;
                in >> CTexturedObject::m_enableTransparency;
                if (CTexturedObject::m_enableTransparency)
                {
                    in >> CTexturedObject::m_textureImageAlpha;
                    assignImage(
                        CTexturedObject::m_textureImage,
                        CTexturedObject::m_textureImageAlpha);
                }
                else
                    assignImage(CTexturedObject::m_textureImage);
            }

            uint32_t n;
            in >> n;
            m_triangles.resize(n);

            for (uint32_t i = 0; i < n; i++) m_triangles[i].readFromStream(in);
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizableDisplayList::notifyChange();
}

bool CSetOfTexturedTriangles::traceRay(
    const mrpt::poses::CPose3D& o, double& dist) const
{
    MRPT_UNUSED_PARAM(o);
    MRPT_UNUSED_PARAM(dist);
    throw std::runtime_error(
        "TODO: TraceRay not implemented in CSetOfTexturedTriangles");
}

void CSetOfTexturedTriangles::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = mrpt::math::TPoint3D(
        std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
        std::numeric_limits<double>::max());
    bb_max = mrpt::math::TPoint3D(
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max(),
        -std::numeric_limits<double>::max());

    for (const auto& t : m_triangles)
    {
        keep_min(bb_min.x, t.m_v1.m_x);
        keep_max(bb_max.x, t.m_v1.m_x);
        keep_min(bb_min.y, t.m_v1.m_y);
        keep_max(bb_max.y, t.m_v1.m_y);
        keep_min(bb_min.z, t.m_v1.m_z);
        keep_max(bb_max.z, t.m_v1.m_z);

        keep_min(bb_min.x, t.m_v2.m_x);
        keep_max(bb_max.x, t.m_v2.m_x);
        keep_min(bb_min.y, t.m_v2.m_y);
        keep_max(bb_max.y, t.m_v2.m_y);
        keep_min(bb_min.z, t.m_v2.m_z);
        keep_max(bb_max.z, t.m_v2.m_z);

        keep_min(bb_min.x, t.m_v3.m_x);
        keep_max(bb_max.x, t.m_v3.m_x);
        keep_min(bb_min.y, t.m_v3.m_y);
        keep_max(bb_max.y, t.m_v3.m_y);
        keep_min(bb_min.z, t.m_v3.m_z);
        keep_max(bb_max.z, t.m_v3.m_z);
    }

    // Convert to coordinates of my parent:
    m_pose.composePoint(bb_min, bb_min);
    m_pose.composePoint(bb_max, bb_max);
}

CSetOfTexturedTriangles::TVertex::TVertex()

    = default;

CSetOfTexturedTriangles::TVertex::TVertex(
    float x, float y, float z, uint32_t u, uint32_t v)
    : m_x(x), m_y(y), m_z(z), m_u(u), m_v(v)
{
}

void CSetOfTexturedTriangles::TVertex::writeToStream(
    mrpt::serialization::CArchive& out) const
{
    out << m_x << m_y << m_z << m_u << m_v;
}
void CSetOfTexturedTriangles::TVertex::readFromStream(
    mrpt::serialization::CArchive& in)
{
    in >> m_x >> m_y >> m_z >> m_u >> m_v;
}

CSetOfTexturedTriangles::TTriangle::TTriangle() = default;
CSetOfTexturedTriangles::TTriangle::TTriangle(
    TVertex v1, TVertex v2, TVertex v3)
    : m_v1(v1), m_v2(v2), m_v3(v3)
{
}

void CSetOfTexturedTriangles::TTriangle::writeToStream(
    mrpt::serialization::CArchive& out) const
{
    m_v1.writeToStream(out);
    m_v2.writeToStream(out);
    m_v3.writeToStream(out);
}
void CSetOfTexturedTriangles::TTriangle::readFromStream(
    mrpt::serialization::CArchive& in)
{
    m_v1.readFromStream(in);
    m_v2.readFromStream(in);
    m_v3.readFromStream(in);
}