CBox.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file     |
   | See: http://www.mrpt.org/Authors - All rights reserved.                |
   | Released under BSD License. See details in http://www.mrpt.org/License |
   +------------------------------------------------------------------------+ */
 
#include "opengl-precomp.h"  // Precompiled header
#include <mrpt/opengl/CBox.h>
#include <mrpt/math/geometry.h>
#include <mrpt/utils/CStream.h>
#include <mrpt/opengl/gl_utils.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CBox, CRenderizableDisplayList, mrpt::opengl)
 
CBox::CBox()
        : m_corner_min(-1, -1, -1),
          m_corner_max(1, 1, 1),
          m_wireframe(false),
          m_lineWidth(1),
          m_draw_border(false),
          m_solidborder_color(0, 0, 0)
{
}
 
CBox::CBox(
        const mrpt::math::TPoint3D& corner1, const mrpt::math::TPoint3D& corner2,
        bool is_wireframe, float lineWidth)
        : m_wireframe(is_wireframe),
          m_lineWidth(lineWidth),
          m_draw_border(false),
          m_solidborder_color(0, 0, 0)
{
        setBoxCorners(corner1, corner2);
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CBox::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        if (m_color.A != 255)
        {
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }
        else
        {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
        }
 
        if (!m_wireframe)
        {
                // solid:
                glEnable(GL_NORMALIZE);
 
                glBegin(GL_TRIANGLES);
                glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
 
                // Front face:
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_max.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_max.z));
 
                // Back face:
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
 
                // Left face:
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_max.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_max.z));
 
                // Right face:
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
 
                // Bottom face:
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_min.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_min.z),
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_min.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_min.z));
                // Top face:
 
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
                gl_utils::renderTriangleWithNormal(
                        TPoint3D(m_corner_min.x, m_corner_max.y, m_corner_max.z),
                        TPoint3D(m_corner_min.x, m_corner_min.y, m_corner_max.z),
                        TPoint3D(m_corner_max.x, m_corner_max.y, m_corner_max.z));
 
                glEnd();
                glDisable(GL_NORMALIZE);
        }
 
        if (m_wireframe || m_draw_border)
        {
                glDisable(GL_LIGHTING);
 
                if (m_draw_border)
                {
                        glEnable(GL_BLEND);
                        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                }
 
                // wireframe:
                glLineWidth(m_lineWidth);
                checkOpenGLError();
 
                mrpt::math::TPoint3D a = m_corner_min, b = m_corner_max;
 
                if (m_wireframe)
                        glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
                else
                {
                        glColor4ub(
                                m_solidborder_color.R, m_solidborder_color.G,
                                m_solidborder_color.B, m_solidborder_color.A);
 
                        // Draw lines "a bit" far above the solid surface:
                        /*      mrpt::math::TPoint3D d = b-a;
                                d*=0.001;
                                a-=d; b+=d;*/
                }
 
                glBegin(GL_LINE_STRIP);
                glVertex3d(a.x, a.y, a.z);
                glVertex3d(b.x, a.y, a.z);
                glVertex3d(b.x, a.y, b.z);
                glVertex3d(a.x, a.y, b.z);
                glVertex3d(a.x, a.y, a.z);
                glEnd();
 
                glBegin(GL_LINE_STRIP);
                glVertex3d(a.x, b.y, a.z);
                glVertex3d(b.x, b.y, a.z);
                glVertex3d(b.x, b.y, b.z);
                glVertex3d(a.x, b.y, b.z);
                glVertex3d(a.x, b.y, a.z);
                glEnd();
 
                glBegin(GL_LINE_STRIP);
                glVertex3d(a.x, a.y, a.z);
                glVertex3d(a.x, b.y, a.z);
                glVertex3d(a.x, b.y, b.z);
                glVertex3d(a.x, a.y, b.z);
                glEnd();
 
                glBegin(GL_LINE_STRIP);
                glVertex3d(b.x, a.y, a.z);
                glVertex3d(b.x, b.y, a.z);
                glVertex3d(b.x, b.y, b.z);
                glVertex3d(b.x, a.y, b.z);
                glEnd();
 
                glEnable(GL_LIGHTING);
        }
 
        glDisable(GL_BLEND);
 
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CBox::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                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;
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CBox::readFromStream(mrpt::utils::CStream& in, int 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)
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CBox::setBoxCorners(
        const mrpt::math::TPoint3D& corner1, const mrpt::math::TPoint3D& corner2)
{
        CRenderizableDisplayList::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(const mrpt::poses::CPose3D& o, double& dist) const
{
        MRPT_UNUSED_PARAM(o);
        MRPT_UNUSED_PARAM(dist);
        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);
}