CBox.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/math/geometry.h>
#include <mrpt/opengl/CBox.h>
#include <mrpt/serialization/CArchive.h>

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

IMPLEMENTS_SERIALIZABLE(CBox, CRenderizableShaderTriangles, mrpt::opengl)

CBox::CBox(
    const mrpt::math::TPoint3D& corner1, const mrpt::math::TPoint3D& corner2,
    bool is_wireframe, float lineWidth)
    : m_wireframe(is_wireframe),
      m_draw_border(false),
      m_solidborder_color(0, 0, 0)
{
    CRenderizableShaderWireFrame::setLineWidth(lineWidth);
    setBoxCorners(corner1, corner2);
}

void CBox::render(const RenderContext& rc) const
{
    switch (rc.shader_id)
    {
        case DefaultShaderID::TRIANGLES:
            if (!m_wireframe) CRenderizableShaderTriangles::render(rc);
            break;
        case DefaultShaderID::WIREFRAME:
            if (m_draw_border || m_wireframe)
                CRenderizableShaderWireFrame::render(rc);
            break;
    };
}
void CBox::renderUpdateBuffers() const
{
    CRenderizableShaderTriangles::renderUpdateBuffers();
    CRenderizableShaderWireFrame::renderUpdateBuffers();
}

void CBox::onUpdateBuffers_Wireframe()
{
    auto& vbd = CRenderizableShaderWireFrame::m_vertex_buffer_data;
    auto& cbd = CRenderizableShaderWireFrame::m_color_buffer_data;
    vbd.clear();

    const std::array<mrpt::math::TPoint3D, 2> corner = {m_corner_min,
                                                        m_corner_max};

    for (unsigned int i = 0; i < 2; i++)
    {
        vbd.emplace_back(corner[0].x, corner[0].y, corner[i].z);
        vbd.emplace_back(corner[0].x, corner[1].y, corner[i].z);

        vbd.emplace_back(corner[0].x, corner[1].y, corner[i].z);
        vbd.emplace_back(corner[1].x, corner[1].y, corner[i].z);

        vbd.emplace_back(corner[1].x, corner[1].y, corner[i].z);
        vbd.emplace_back(corner[1].x, corner[0].y, corner[i].z);

        vbd.emplace_back(corner[1].x, corner[0].y, corner[i].z);
        vbd.emplace_back(corner[0].x, corner[0].y, corner[i].z);

        vbd.emplace_back(corner[i].x, corner[0].y, corner[0].z);
        vbd.emplace_back(corner[i].x, corner[0].y, corner[1].z);

        vbd.emplace_back(corner[i].x, corner[1].y, corner[0].z);
        vbd.emplace_back(corner[i].x, corner[1].y, corner[1].z);
    }

    cbd.assign(vbd.size(), m_solidborder_color);
}
void CBox::onUpdateBuffers_Triangles()
{
    auto& tris = CRenderizableShaderTriangles::m_triangles;
    tris.clear();

    const auto &c0 = m_corner_min, &c1 = m_corner_max;
    using P3 = mrpt::math::TPoint3D;

    // Front face:
    tris.emplace_back(
        P3(c1.x, c0.y, c0.z), P3(c0.x, c0.y, c0.z), P3(c1.x, c0.y, c1.z));
    tris.emplace_back(
        P3(c0.x, c0.y, c0.z), P3(c0.x, c0.y, c1.z), P3(c1.x, c0.y, c1.z));

    // Back face:
    tris.emplace_back(
        P3(c1.x, c1.y, c0.z), P3(c0.x, c1.y, c0.z), P3(c1.x, c1.y, c1.z));
    tris.emplace_back(
        P3(c0.x, c1.y, c0.z), P3(c0.x, c1.y, c1.z), P3(c1.x, c1.y, c1.z));

    // Left face:
    tris.emplace_back(
        P3(c0.x, c0.y, c0.z), P3(c0.x, c1.y, c0.z), P3(c0.x, c1.y, c1.z));
    tris.emplace_back(
        P3(c0.x, c0.y, c1.z), P3(c0.x, c0.y, c0.z), P3(c0.x, c1.y, c1.z));

    // Right face:
    tris.emplace_back(
        P3(c1.x, c0.y, c0.z), P3(c1.x, c1.y, c0.z), P3(c1.x, c1.y, c1.z));
    tris.emplace_back(
        P3(c1.x, c0.y, c1.z), P3(c1.x, c0.y, c0.z), P3(c1.x, c1.y, c1.z));

    // Bottom face:
    tris.emplace_back(
        P3(c0.x, c0.y, c0.z), P3(c1.x, c0.y, c0.z), P3(c1.x, c1.y, c0.z));
    tris.emplace_back(
        P3(c0.x, c1.y, c0.z), P3(c0.x, c0.y, c0.z), P3(c1.x, c1.y, c0.z));
    // Top face:

    tris.emplace_back(
        P3(c0.x, c0.y, c1.z), P3(c1.x, c0.y, c1.z), P3(c1.x, c1.y, c1.z));
    tris.emplace_back(
        P3(c0.x, c1.y, c1.z), P3(c0.x, c0.y, c1.z), P3(c1.x, c1.y, c1.z));

    // All faces, all vertices, same color:
    for (auto& t : tris) t.setColor(m_color);
}

uint8_t CBox::serializeGetVersion() const { return 1; }
void CBox::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    // version 0
    out << m_corner_min.x << m_corner_min.y << m_corner_min.z << m_corner_max.x
        << m_corner_max.y << m_corner_max.z << m_wireframe << m_lineWidth;
    // Version 1:
    out << m_draw_border << m_solidborder_color;
}

void CBox::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
            readFromStreamRender(in);
            in >> m_corner_min.x >> m_corner_min.y >> m_corner_min.z >>
                m_corner_max.x >> m_corner_max.y >> m_corner_max.z >>
                m_wireframe >> m_lineWidth;
            // Version 1:
            if (version >= 1)
                in >> m_draw_border >> m_solidborder_color;
            else
            {
                m_draw_border = false;
            }

            break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
    CRenderizable::notifyChange();
}

void CBox::setBoxCorners(
    const mrpt::math::TPoint3D& corner1, const mrpt::math::TPoint3D& corner2)
{
    CRenderizable::notifyChange();

    // Order the coordinates so we always have the min/max in their right
    // position:
    m_corner_min.x = std::min(corner1.x, corner2.x);
    m_corner_min.y = std::min(corner1.y, corner2.y);
    m_corner_min.z = std::min(corner1.z, corner2.z);

    m_corner_max.x = std::max(corner1.x, corner2.x);
    m_corner_max.y = std::max(corner1.y, corner2.y);
    m_corner_max.z = std::max(corner1.z, corner2.z);
}

bool CBox::traceRay(
    [[maybe_unused]] const mrpt::poses::CPose3D& o,
    [[maybe_unused]] double& dist) const
{
    THROW_EXCEPTION("TO DO");
}

void CBox::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min = m_corner_min;
    bb_max = m_corner_max;

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