CMesh.h

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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 |
   +------------------------------------------------------------------------+ */

#ifndef opengl_CMesh_H
#define opengl_CMesh_H

#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/CMatrix.h>
#include <mrpt/utils/CImage.h>
#include <mrpt/utils/color_maps.h>
#include <mrpt/opengl/CSetOfTriangles.h>

namespace mrpt
{
namespace opengl
{
/** A planar (XY) grid where each cell has an associated height and, optionally,
 * a texture map.
  *  A typical usage example would be an elevation map or a 3D model of a
 * terrain.
  *  \sa opengl::COpenGLScene
  *
  *  <div align="center">
  *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
  *   <tr> <td> mrpt::opengl::CMesh </td> <td> \image html preview_CMesh.png
 * </td> </tr>
  *  </table>
  *  </div>
  *
  * \ingroup mrpt_opengl_grp
  */
class CMesh : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CMesh)
   public:
        struct TTriangleVertexIndices
        {
                size_t vind[3];
        };

   protected:
        mrpt::utils::CImage m_textureImage;

        bool m_enableTransparency;
        bool m_colorFromZ;
        bool m_isWireFrame;
        bool m_isImage;

        /** Z(x,y): Z-coordinate of the point (x,y) */
        math::CMatrix Z;
        math::CMatrix mask;
        /** Texture coordinates */
        math::CMatrix U, V;
        /** Grayscale Color [0,1] for each cell, updated by updateColorsMatrix */
        mutable math::CMatrix C;
        /** Red Component of the Color [0,1] for each cell, updated by
         * updateColorsMatrix */
        mutable math::CMatrix C_r;
        /** Green Component of the  Color [0,1] for each cell, updated by
         * updateColorsMatrix */
        mutable math::CMatrix C_g;
        /** Blue Component of the  Color [0,1] for each cell, updated by
         * updateColorsMatrix */
        mutable math::CMatrix C_b;

        /** Used when m_colorFromZ is true */
        mrpt::utils::TColormap m_colorMap;

        /** Whether C is not up-to-date wrt to Z */
        mutable bool m_modified_Z;
        /** Whether C is not up-to-date wrt to the texture image */
        mutable bool m_modified_Image;

        /** Called internally to assure C is updated. */
        void updateColorsMatrix() const;
        /** Called internally to assure the triangle list is updated. */
        void updateTriangles() const;
        void updatePolygons() const;  //<!Called internally to assure that the
        // polygon list is updated.

        /** Mesh bounds */
        float xMin, xMax, yMin, yMax;
        /** List of triangles in the mesh */
        mutable std::vector<
                std::pair<CSetOfTriangles::TTriangle, TTriangleVertexIndices>>
                actualMesh;
        /** The accumulated normals & counts for each vertex, so normals can be
         * averaged. */
        mutable std::vector<std::pair<mrpt::math::TPoint3D, size_t>> vertex_normals;
        /**Whether the actual mesh needs to be recalculated */
        mutable bool trianglesUpToDate;
        mutable bool polygonsUpToDate;  //<!Whether the polygon mesh (auxiliary
        // structure for ray tracing) needs to be
        // recalculated
        mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPolys;

   public:
        void setGridLimits(float xmin, float xmax, float ymin, float ymax)
        {
                xMin = xmin;
                xMax = xmax;
                yMin = ymin;
                yMax = ymax;
                CRenderizableDisplayList::notifyChange();
        }

        void getGridLimits(float& xmin, float& xmax, float& ymin, float& ymax) const
        {
                xmin = xMin;
                xmax = xMax;
                ymin = yMin;
                ymax = yMax;
        }

        void enableTransparency(bool v)
        {
                m_enableTransparency = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableWireFrame(bool v)
        {
                m_isWireFrame = v;
                CRenderizableDisplayList::notifyChange();
        }
        void enableColorFromZ(
                bool v, mrpt::utils::TColormap colorMap = mrpt::utils::cmHOT)
        {
                m_colorFromZ = v;
                m_colorMap = colorMap;
                CRenderizableDisplayList::notifyChange();
        }

        /** This method sets the matrix of heights for each position (cell) in the
         * mesh grid */
        void setZ(const mrpt::math::CMatrixTemplateNumeric<float>& in_Z);

        /** Returns a reference to the internal Z matrix, allowing changing it
         * efficiently */
        inline void getZ(mrpt::math::CMatrixFloat& out) const { out = Z; }
        /** Returns a reference to the internal mask matrix, allowing changing it
         * efficiently */
        inline void getMask(mrpt::math::CMatrixFloat& out) const { out = mask; }
        /** This method sets the boolean mask of valid heights for each position
         * (cell) in the mesh grid */
        void setMask(const mrpt::math::CMatrixTemplateNumeric<float>& in_mask);

        /** Sets the (u,v) texture coordinates (in range [0,1]) for each cell */
        void setUV(
                const mrpt::math::CMatrixTemplateNumeric<float>& in_U,
                const mrpt::math::CMatrixTemplateNumeric<float>& in_V);

        inline float getXMin() const { return xMin; }
        inline float getXMax() const { return xMax; }
        inline float getYMin() const { return yMin; }
        inline float getYMax() const { return yMax; }
        inline void setXMin(const float nxm)
        {
                xMin = nxm;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }
        inline void setXMax(const float nxm)
        {
                xMax = nxm;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }
        inline void setYMin(const float nym)
        {
                yMin = nym;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }
        inline void setYMax(const float nym)
        {
                yMax = nym;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }
        inline void getXBounds(float& min, float& max) const
        {
                min = xMin;
                max = xMax;
        }
        inline void getYBounds(float& min, float& max) const
        {
                min = yMin;
                max = yMax;
        }
        inline void setXBounds(const float min, const float max)
        {
                xMin = min;
                xMax = max;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }
        inline void setYBounds(const float min, const float max)
        {
                yMin = min;
                yMax = max;
                trianglesUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }

        /** Class factory  */
        static CMesh::Ptr Create(
                bool enableTransparency, float xMin = 0.0f, float xMax = 0.0f,
                float yMin = 0.0f, float yMax = 0.0f);

        /** Render
          */
        void render_dl() const override;

        /** Evaluates the bounding box of this object (including possible children)
         * in the coordinate frame of the object parent. */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;

        /** Assigns a texture image, and disable transparency.
          */
        void assignImage(const mrpt::utils::CImage& img);

        /** Assigns a texture image and Z simultaneously, and disable transparency.
          */
        void assignImageAndZ(
                const mrpt::utils::CImage& img,
                const mrpt::math::CMatrixTemplateNumeric<float>& in_Z);

        /** Adjust grid limits according to the image aspect ratio, maintaining the
         * X limits and resizing in the Y direction.
          */
        inline void adjustGridToImageAR()
        {
                ASSERT_(m_isImage);
                const float ycenter = 0.5 * (yMin + yMax);
                const float xwidth = xMax - xMin;
                const float newratio = float(m_textureImage.getWidth()) /
                                                           float(m_textureImage.getHeight());
                yMax = ycenter + 0.5 * newratio * xwidth;
                yMin = ycenter - 0.5 * newratio * xwidth;
                CRenderizableDisplayList::notifyChange();
        }

        /** Trace ray
          */
        bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const override;

        /** Constructor  */
        CMesh(
                bool enableTransparency = false, float xMin = 0.0f, float xMax = 0.0f,
                float yMin = 0.0f, float yMax = 0.0f);

        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CMesh();
};

}  // end namespace

}  // End of namespace

#endif