CGridPlaneXY.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/CGridPlaneXY.h>
#include <mrpt/utils/CStream.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::utils;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CGridPlaneXY, CRenderizableDisplayList, mrpt::opengl)
 
CGridPlaneXY::Ptr CGridPlaneXY::Create(
        float xMin, float xMax, float yMin, float yMax, float z, float frequency,
        float lineWidth, bool antiAliasing)
{
        return CGridPlaneXY::Ptr(
                new CGridPlaneXY(
                        xMin, xMax, yMin, yMax, z, frequency, lineWidth, antiAliasing));
}
/** Constructor  */
CGridPlaneXY::CGridPlaneXY(
        float xMin, float xMax, float yMin, float yMax, float z, float frequency,
        float lineWidth, bool antiAliasing)
        : m_xMin(xMin),
          m_xMax(xMax),
          m_yMin(yMin),
          m_yMax(yMax),
          m_plane_z(z),
          m_frequency(frequency),
          m_lineWidth(lineWidth),
          m_antiAliasing(antiAliasing)
{
}
 
/*---------------------------------------------------------------
                                        render_dl
  ---------------------------------------------------------------*/
void CGridPlaneXY::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        ASSERT_(m_frequency >= 0)
 
        // Enable antialiasing:
        if (m_antiAliasing)
        {
                glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
                glEnable(GL_LINE_SMOOTH);
        }
        glLineWidth(m_lineWidth);
 
        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
        glBegin(GL_LINES);
 
        for (float y = m_yMin; y <= m_yMax; y += m_frequency)
        {
                glVertex3f(m_xMin, y, m_plane_z);
                glVertex3f(m_xMax, y, m_plane_z);
        }
 
        for (float x = m_xMin; x <= m_xMax; x += m_frequency)
        {
                glVertex3f(x, m_yMin, m_plane_z);
                glVertex3f(x, m_yMax, m_plane_z);
        }
 
        glEnd();
        glEnable(GL_LIGHTING);
 
        // End antialiasing:
        if (m_antiAliasing)
        {
                glPopAttrib();
                checkOpenGLError();
        }
#endif
}
 
/*---------------------------------------------------------------
   Implements the writing to a CStream capability of
         CSerializable objects
  ---------------------------------------------------------------*/
void CGridPlaneXY::writeToStream(mrpt::utils::CStream& out, int* version) const
{
        if (version)
                *version = 1;
        else
        {
                writeToStreamRender(out);
                out << m_xMin << m_xMax;
                out << m_yMin << m_yMax << m_plane_z;
                out << m_frequency;
                out << m_lineWidth << m_antiAliasing;  // v1
        }
}
 
/*---------------------------------------------------------------
        Implements the reading from a CStream capability of
                CSerializable objects
  ---------------------------------------------------------------*/
void CGridPlaneXY::readFromStream(mrpt::utils::CStream& in, int version)
{
        switch (version)
        {
                case 0:
                case 1:
                {
                        readFromStreamRender(in);
                        in >> m_xMin >> m_xMax;
                        in >> m_yMin >> m_yMax >> m_plane_z;
                        in >> m_frequency;
                        if (version >= 1)
                                in >> m_lineWidth >> m_antiAliasing;
                        else
                        {
                                m_lineWidth = 1.0f;
                                m_antiAliasing = true;
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CGridPlaneXY::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = m_xMin;
        bb_min.y = m_yMin;
        bb_min.z = 0;
 
        bb_max.x = m_xMax;
        bb_max.y = m_yMax;
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}