CSimpleLine.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          https://www.mrpt.org/                         |
   |                                                                        |
   | Copyright (c) 2005-2020, 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/CSimpleLine.h>
#include <mrpt/opengl/opengl_api.h>
#include <mrpt/serialization/CArchive.h>

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

IMPLEMENTS_SERIALIZABLE(CSimpleLine, CRenderizableShaderWireFrame, mrpt::opengl)

CSimpleLine::CSimpleLine(
    float x0, float y0, float z0, float x1, float y1, float z1, float lineWidth,
    bool antiAliasing)
    : m_x0(x0), m_y0(y0), m_z0(z0), m_x1(x1), m_y1(y1), m_z1(z1)
{
    m_lineWidth = lineWidth;
    m_antiAliasing = antiAliasing;
}

void CSimpleLine::onUpdateBuffers_Wireframe()
{
    auto& vbd = CRenderizableShaderWireFrame::m_vertex_buffer_data;
    vbd.resize(2);

    vbd[0] = {m_x0, m_y0, m_z0};
    vbd[1] = {m_x1, m_y1, m_z1};

    // The same color to all vertices:
    m_color_buffer_data.assign(vbd.size(), m_color);
}

uint8_t CSimpleLine::serializeGetVersion() const { return 1; }
void CSimpleLine::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_x0 << m_y0 << m_z0;
    out << m_x1 << m_y1 << m_z1 << m_lineWidth;
    out << m_antiAliasing;  // Added in v1
}

void CSimpleLine::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 1:
        {
            readFromStreamRender(in);
            in >> m_x0 >> m_y0 >> m_z0;
            in >> m_x1 >> m_y1 >> m_z1 >> m_lineWidth;
            if (version >= 1)
                in >> m_antiAliasing;
            else
                m_antiAliasing = true;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizable::notifyChange();
}

void CSimpleLine::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = std::min(m_x0, m_x1);
    bb_min.y = std::min(m_y0, m_y1);
    bb_min.z = std::min(m_z0, m_z1);

    bb_max.x = std::max(m_x0, m_x1);
    bb_max.y = std::max(m_y0, m_y1);
    bb_max.z = std::max(m_z0, m_z1);

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