CText.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/CText.h>
#include <mrpt/serialization/CArchive.h>

#include <mrpt/opengl/opengl_api.h>
#include "gltext.h"

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

IMPLEMENTS_SERIALIZABLE(CText, CRenderizable, mrpt::opengl)

CText::~CText() = default;

void CText::onUpdateBuffers_Text()
{
    const double text_spacing = 1.5;
    const double text_kerning = 0.1;

    auto& vbd = CRenderizableShaderText::m_vertex_buffer_data;
    auto& tris = CRenderizableShaderText::m_triangles;
    auto& cbd = CRenderizableShaderText::m_color_buffer_data;
    vbd.clear();
    tris.clear();
    cbd.clear();

    mrpt::opengl::internal::glSetFont(m_fontName);
    mrpt::opengl::internal::glDrawText(
        m_str, tris, vbd, mrpt::opengl::FILL, text_spacing, text_kerning);

    // All lines & triangles, the same color:
    cbd.assign(vbd.size(), m_color);
    for (auto& tri : m_triangles) tri.setColor(m_color);
}

void CText::render(const RenderContext& rc) const
{
#if MRPT_HAS_OPENGL_GLUT

    // Compute pixel of (0,0,0) for this object:
    // "px" will be given in the range:
    //     [-1,-1] (left-bottom) - [+1,+1] (top-right)
    //
    const auto& pmv = rc.state->pmv_matrix;
    if (std::abs(pmv(3, 3)) < 1e-10) return;

    const auto px =
        mrpt::math::TPoint2Df(pmv(0, 3) / pmv(3, 3), pmv(1, 3) / pmv(3, 3));

    // Load matrices in shader:
    const GLint u_pmat = rc.shader->uniformId("p_matrix");
    const GLint u_mvmat = rc.shader->uniformId("mv_matrix");

    // Projection: identity
    static const auto eye4 = mrpt::math::CMatrixFloat44::Identity();
    glUniformMatrix4fv(u_pmat, 1, true, eye4.data());

    // Model-view: translate and scale
    auto mv = mrpt::math::CMatrixFloat44::Identity();
    mv(0, 3) = px.x;
    mv(1, 3) = px.y;
    mv(2, 3) = pmv(2, 3) / pmv(3, 3);  // depth

    if (rc.state->viewport_height <= 0 || rc.state->viewport_width <= 0)
    {
        std::cerr << "[CText] Warning: invalid viewport size!\n";
        return;
    }

    // Find scale according to font height in pixels:
    const float scale =
        this->m_fontHeight / static_cast<float>(rc.state->viewport_height);

    const float aspect =
        rc.state->viewport_width / double(rc.state->viewport_height);
    mv(0, 0) *= scale / aspect;
    mv(1, 1) *= scale;

    glUniformMatrix4fv(u_mvmat, 1, true, mv.data());

    CRenderizableShaderText::render(rc);

#endif
}

uint8_t CText::serializeGetVersion() const { return 1; }
void CText::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_str;
    out << m_fontName;
    out << (uint32_t)m_fontHeight << (uint32_t)m_fontWidth;
}

void CText::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            uint32_t i;
            readFromStreamRender(in);
            in >> m_str;
            if (version >= 1)
            {
                in >> m_fontName;
                in >> i;
                m_fontHeight = i;
                in >> i;
                m_fontWidth = i;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version);
    };
}

void CText::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = 0;
    bb_min.y = 0;
    bb_min.z = 0;

    bb_max = bb_min;

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