CBox.h

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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          |
   +------------------------------------------------------------------------+ */
#pragma once

#include <mrpt/math/TPoint3D.h>
#include <mrpt/opengl/CRenderizableShaderTriangles.h>
#include <mrpt/opengl/CRenderizableShaderWireFrame.h>

namespace mrpt::opengl
{
/** A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to
 *the planes X, Y and Z (note that the object can be translated and rotated
 *afterwards as any other CRenderizable object using the "object pose" in the
 *base class).
 *  Three drawing modes are possible:
 *  - Wireframe: setWireframe(true). Used color is the CRenderizable color
 *  - Solid box: setWireframe(false). Used color is the CRenderizable color
 *  - Solid box with border: setWireframe(false) + enableBoxBorder(true). Solid
 *color is the CRenderizable color, border line can be set with
 *setBoxBorderColor().
 *
 * \sa opengl::COpenGLScene,opengl::CRenderizable
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 *border-style: solid;">
 *   <tr> <td> mrpt::opengl::CBox </td> <td> \image html preview_CBox.png </td>
 *</tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CBox : public CRenderizableShaderTriangles,
             public CRenderizableShaderWireFrame
{
    DEFINE_SERIALIZABLE(CBox, mrpt::opengl)

   public:
    /** @name Renderizable shader API virtual methods
     * @{ */
    void render(const RenderContext& rc) const override;
    void renderUpdateBuffers() const override;

    virtual shader_list_t requiredShaders() const override
    {
        // May use up to two shaders (triangles and lines):
        return {DefaultShaderID::WIREFRAME, DefaultShaderID::TRIANGLES};
    }
    void onUpdateBuffers_Wireframe() override;
    void onUpdateBuffers_Triangles() override;
    void freeOpenGLResources() override
    {
        CRenderizableShaderTriangles::freeOpenGLResources();
        CRenderizableShaderWireFrame::freeOpenGLResources();
    }
    /** @} */

    void getBoundingBox(
        mrpt::math::TPoint3D& bb_min,
        mrpt::math::TPoint3D& bb_max) const override;

    /**
     * Ray tracing.
     * \sa mrpt::opengl::CRenderizable
     */
    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

    inline void setLineWidth(float width)
    {
        m_lineWidth = width;
        CRenderizable::notifyChange();
    }
    inline float getLineWidth() const { return m_lineWidth; }
    inline void setWireframe(bool is_wireframe = true)
    {
        m_wireframe = is_wireframe;
        CRenderizable::notifyChange();
    }
    inline bool isWireframe() const { return m_wireframe; }
    inline void enableBoxBorder(bool drawBorder = true)
    {
        m_draw_border = drawBorder;
        CRenderizable::notifyChange();
    }
    inline bool isBoxBorderEnabled() const { return m_draw_border; }
    inline void setBoxBorderColor(const mrpt::img::TColor& c)
    {
        m_solidborder_color = c;
        CRenderizable::notifyChange();
    }
    inline mrpt::img::TColor getBoxBorderColor() const
    {
        return m_solidborder_color;
    }

    /** Set the position and size of the box, from two corners in 3D */
    void setBoxCorners(
        const mrpt::math::TPoint3D& corner1,
        const mrpt::math::TPoint3D& corner2);
    void getBoxCorners(
        mrpt::math::TPoint3D& corner1, mrpt::math::TPoint3D& corner2) const
    {
        corner1 = m_corner_min;
        corner2 = m_corner_max;
    }

    /** Basic empty constructor. Set all parameters to default. */
    CBox() = default;

    /** Constructor with all the parameters  */
    CBox(
        const mrpt::math::TPoint3D& corner1,
        const mrpt::math::TPoint3D& corner2, bool is_wireframe = false,
        float lineWidth = 1.0);

    /** Destructor  */
    ~CBox() override = default;

   protected:
    /** Corners coordinates */
    mrpt::math::TPoint3D m_corner_min = {-1, -1, -1}, m_corner_max = {1, 1, 1};
    /** true: wireframe, false (default): solid */
    bool m_wireframe{false};

    /** Draw line borders to solid box with the given linewidth (default: true)
     */
    bool m_draw_border{true};

    /** Color of the solid box borders. */
    mrpt::img::TColor m_solidborder_color = {0, 0, 0};
};
}  // namespace mrpt::opengl