CSetOfTexturedTriangles.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/opengl/CRenderizableShaderTexturedTriangles.h>

namespace mrpt::opengl
{
/** A set of textured triangles.
 *  This class can be used to draw any solid, arbitrarily complex object with
 * textures.
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CSetOfTexturedTriangles : public CRenderizableShaderTexturedTriangles
{
    DEFINE_SERIALIZABLE(CSetOfTexturedTriangles, mrpt::opengl)

   public:
    using TVertex = mrpt::opengl::TTriangle::Vertex;
    using TTriangle = mrpt::opengl::TTriangle;

    CSetOfTexturedTriangles() = default;
    virtual ~CSetOfTexturedTriangles() override = default;

    void onUpdateBuffers_TexturedTriangles() override;

    /** 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 clearTriangles()
    {
        m_triangles.clear();
        CRenderizable::notifyChange();
    }
    size_t getTrianglesCount() const { return m_triangles.size(); }
    const TTriangle& getTriangle(size_t idx) const
    {
        ASSERT_BELOW_(idx, m_triangles.size());
        return m_triangles[idx];
    }
    void getTriangle(size_t idx, TTriangle& t) const
    {
        ASSERT_BELOW_(idx, m_triangles.size());
        t = m_triangles[idx];
        CRenderizable::notifyChange();
    }
    void insertTriangle(const TTriangle& t)
    {
        m_triangles.push_back(t);
        CRenderizable::notifyChange();
    }

    bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;
};

}  // namespace mrpt::opengl