CCamera.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/CCamera.h>
#include <mrpt/utils/CStream.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(CCamera, CRenderizable, mrpt::opengl)

/*--------------------------------------------------------------
                                        CCamera
  ---------------------------------------------------------------*/
CCamera::CCamera()
        : m_pointingX(0),
          m_pointingY(0),
          m_pointingZ(0),
          m_distanceZoom(10),
          m_azimuthDeg(45),
          m_elevationDeg(45),
          m_projectiveModel(true),
          m_projectiveFOVdeg(30),
          m_6DOFMode(false)
{
}

/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CCamera::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                // Save data:
                out << m_pointingX << m_pointingY << m_pointingZ << m_distanceZoom
                        << m_azimuthDeg << m_elevationDeg << m_projectiveModel
                        << m_projectiveFOVdeg;
        }
}

/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CCamera::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 1:
                {
                        // Load data:
                        in >> m_pointingX >> m_pointingY >> m_pointingZ >> m_distanceZoom >>
                                m_azimuthDeg >> m_elevationDeg >> m_projectiveModel >>
                                m_projectiveFOVdeg;
                }
                break;
                case 0:
                {
                        in >> m_pointingX >> m_pointingY >> m_pointingZ >> m_distanceZoom >>
                                m_azimuthDeg >> m_elevationDeg;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
}

/** In this class, returns a fixed box (max,max,max), (-max,-max,-max). */
void CCamera::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min = mrpt::math::TPoint3D(
                std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
                std::numeric_limits<double>::max());
        bb_max = mrpt::math::TPoint3D(
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max());
}