CVectorField2D.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/core/bits_math.h>
#include <mrpt/math/CMatrixF.h>
#include <mrpt/opengl/CRenderizableShaderPoints.h>
#include <mrpt/opengl/CRenderizableShaderTriangles.h>
#include <mrpt/opengl/CRenderizableShaderWireFrame.h>

namespace mrpt::opengl
{
/** A 2D vector field representation, consisting of points and arrows drawn on a
 * plane (invisible grid).
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CVectorField2D </td> <td> \image html
 * preview_CVectorField2D.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */

class CVectorField2D : public CRenderizableShaderPoints,
                       public CRenderizableShaderTriangles,
                       public CRenderizableShaderWireFrame
{
    DEFINE_SERIALIZABLE(CVectorField2D, mrpt::opengl)
   protected:
    /** X component of the vector field */
    mrpt::math::CMatrixF xcomp;
    /** Y component of the vector field */
    mrpt::math::CMatrixF ycomp;

    /** Grid bounds */
    float xMin{-1.0f}, xMax{1.0f}, yMin{-1.0f}, yMax{1.0f};

    mrpt::img::TColor m_point_color;
    mrpt::img::TColor m_field_color;

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

    virtual shader_list_t requiredShaders() const override
    {
        return {DefaultShaderID::WIREFRAME, DefaultShaderID::TRIANGLES,
                DefaultShaderID::POINTS};
    }
    void onUpdateBuffers_Wireframe() override;
    void onUpdateBuffers_Triangles() override;
    void onUpdateBuffers_Points() override;
    /** @} */

    /**
     * Clear the matrices
     */
    inline void clear()
    {
        xcomp.resize(0, 0);
        ycomp.resize(0, 0);
        CRenderizable::notifyChange();
    }

    /**
     * Set the point color in the range [0,1]
     */
    inline void setPointColor(
        const float R, const float G, const float B, const float A = 1)
    {
        m_point_color = mrpt::img::TColor(f2u8(R), f2u8(G), f2u8(B), f2u8(A));
        CRenderizable::notifyChange();
    }

    /**
     * Get the point color in the range [0,1]
     */
    inline mrpt::img::TColorf getPointColor() const
    {
        return mrpt::img::TColorf(m_point_color);
    }

    /**
     * Set the arrow color in the range [0,1]
     */
    inline void setVectorFieldColor(
        const float R, const float G, const float B, const float A = 1)
    {
        m_field_color = mrpt::img::TColor(f2u8(R), f2u8(G), f2u8(B), f2u8(A));
        CRenderizable::notifyChange();
    }

    /**
     * Get the arrow color in the range [0,1]
     */
    inline mrpt::img::TColorf getVectorFieldColor() const
    {
        return mrpt::img::TColorf(m_field_color);
    }

    /**
     * Set the coordinates of the grid on where the vector field will be drawn
     * by setting its center and the cell size.
     * The number of cells is marked by the content of xcomp and ycomp.
     * \sa xcomp, ycomp
     */
    void setGridCenterAndCellSize(
        const float center_x, const float center_y, const float cellsize_x,
        const float cellsize_y)
    {
        xMin = center_x - 0.5f * cellsize_x * (xcomp.cols() - 1);
        xMax = center_x + 0.5f * cellsize_x * (xcomp.cols() - 1);
        yMin = center_y - 0.5f * cellsize_y * (xcomp.rows() - 1);
        yMax = center_y + 0.5f * cellsize_y * (xcomp.rows() - 1);
        CRenderizable::notifyChange();
    }

    /**
     * Set the coordinates of the grid on where the vector field will be drawn
     * using x-y max and min values.
     */
    void setGridLimits(
        const float xmin, const float xmax, const float ymin, const float ymax)
    {
        xMin = xmin;
        xMax = xmax;
        yMin = ymin;
        yMax = ymax;
        CRenderizable::notifyChange();
    }

    /**
     * Get the coordinates of the grid on where the vector field is drawn using
     * the max and min values.
     */
    void getGridLimits(float& xmin, float& xmax, float& ymin, float& ymax) const
    {
        xmin = xMin;
        xmax = xMax;
        ymin = yMin;
        ymax = yMax;
    }

    /**
     * Get the vector field. Matrix_x stores the "x" component and Matrix_y
     * stores the "y" component.
     */
    void getVectorField(
        mrpt::math::CMatrixFloat& Matrix_x,
        mrpt::math::CMatrixFloat& Matrix_y) const
    {
        Matrix_x = xcomp;
        Matrix_y = ycomp;
    }

    /** Get the "x" component of the vector field, as a matrix where each entry
     * represents a point in the 2D grid. */
    inline const mrpt::math::CMatrixFloat& getVectorField_x() const
    {
        return xcomp;
    }
    /** \overload */
    inline mrpt::math::CMatrixFloat& getVectorField_x() { return xcomp; }
    /** Get the "y" component of the vector field, as a matrix where each entry
     * represents a point in the 2D grid. */
    inline const mrpt::math::CMatrixFloat& getVectorField_y() const
    {
        return ycomp;
    }
    /** \overload */
    inline mrpt::math::CMatrixFloat& getVectorField_y() { return ycomp; }
    /**
     * Set the vector field. Matrix_x contains the "x" component and Matrix_y
     * contains the "y" component.
     */
    void setVectorField(
        mrpt::math::CMatrixFloat& Matrix_x, mrpt::math::CMatrixFloat& Matrix_y)
    {
        ASSERT_(
            (Matrix_x.rows() == Matrix_y.rows()) &&
            (Matrix_x.cols() == Matrix_y.cols()));
        xcomp = Matrix_x;
        ycomp = Matrix_y;
        CRenderizable::notifyChange();
    }

    /**
     * Adjust the vector field in the scene (vectors magnitude) according to
     * the grid size.
     */
    void adjustVectorFieldToGrid();

    /** Resizes the set.
     */
    void resize(size_t rows, size_t cols)
    {
        xcomp.resize(rows, cols);
        ycomp.resize(rows, cols);
        CRenderizable::notifyChange();
    }

    /** Returns the total count of rows used to represent the vector field. */
    inline size_t cols() const { return xcomp.cols(); }
    /** Returns the total count of columns used to represent the vector field.
     */
    inline size_t rows() const { return xcomp.rows(); }

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

    void enableAntiAliasing(bool enable = true)
    {
        m_antiAliasing = enable;
        CRenderizable::notifyChange();
    }
    bool isAntiAliasingEnabled() const { return m_antiAliasing; }
    /** Constructor */
    CVectorField2D();
    /** Constructor with a initial set of lines. */
    CVectorField2D(
        mrpt::math::CMatrixFloat Matrix_x, mrpt::math::CMatrixFloat Matrix_y,
        float xmin = -1, float xmax = 1, float ymin = -1, float ymax = 1);
    /** Private, virtual destructor: only can be deleted from smart pointers. */
    ~CVectorField2D() override = default;
};

}  // namespace mrpt::opengl