COpenGLScene.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_COpenGLScene_H
#define opengl_COpenGLScene_H
 
#include <mrpt/opengl/CRenderizable.h>
#include <mrpt/opengl/COpenGLViewport.h>
#include <mrpt/utils/CStringList.h>
 
namespace mrpt
{
/** The namespace for 3D scene representation and rendering. See also the <a
 * href="mrpt-opengl.html" > summary page</a> of the mrpt-opengl library for
 * more info and thumbnails of many of the render primitive.
  */
namespace opengl
{
/** This class allows the user to create, load, save, and render 3D scenes using
 * OpenGL primitives.
  *  The class can be understood as a program to be run over OpenGL, containing
 * a sequence of viewport definitions,
  *   rendering primitives, etc...
  *
  *  It can contain from 1 up to any number of <b>Viewports</b>, each one
  *   associated a set of OpenGL objects and, optionally, a preferred camera
 * position. Both orthogonal (2D/3D) and projection
  *   camera models can be used for each viewport independently, greatly
 * increasing the possibilities of rendered scenes.
  *
  *  An object of COpenGLScene always contains at least one viewport
 * (utils::COpenGLViewport), named "main". Optionally, any
  *   number of other viewports may exist. Viewports are referenced by their
 * names, case-sensitive strings. Each viewport contains
  *   a different 3D scene (i.e. they render different objects), though a
 * mechanism exist to share the same 3D scene by a number of
  *   viewports so memory is not wasted replicating the same objects (see
 * COpenGLViewport::setCloneView ).
  *
  *  The main rendering method, COpenGLScene::render(), assumes a viewport has
 * been set-up for the entire target window. That
  *   method will internally make the required calls to opengl for creating the
 * additional viewports. Note that only the depth
  *   buffer is cleared by default for each (non-main) viewport, to allow
 * transparencies. This can be disabled by the approppriate
  *   member in COpenGLViewport.
  *
  *   An object COpenGLScene can be saved to a ".3Dscene" file using
 * CFileOutputStream, for posterior visualization from
  *    the standalone application <a
 * href="http://www.mrpt.org/Application:SceneViewer" >SceneViewer</a>.
  *    It can be also displayed in real-time using gui::CDisplayWindow3D.
  * \ingroup mrpt_opengl_grp
  */
class COpenGLScene : public mrpt::utils::CSerializable
{
        DEFINE_SERIALIZABLE(COpenGLScene)
   public:
        /** Constructor
          */
        COpenGLScene();
 
        /** Destructor:
         */
        virtual ~COpenGLScene();
 
        /** Copy operator:
          */
        COpenGLScene& operator=(const COpenGLScene& obj);
 
        /** Copy constructor:
          */
        COpenGLScene(const COpenGLScene& obj);
 
        /**
          * Inserts a set of objects into the scene, in the given viewport ("main"
         * by default). Any iterable object will be accepted.
          * \sa createViewport,getViewport
          */
        template <class T>
        inline void insertCollection(
                const T& objs, const std::string& vpn = std::string("main"))
        {
                insert(objs.begin(), objs.end(), vpn);
        }
        /** Insert a new object into the scene, in the given viewport (by default,
         * into the "main" viewport).
          *  The viewport must be created previously, an exception will be raised if
         * the given name does not correspond to
          *   an existing viewport.
          * \sa createViewport, getViewport
          */
        void insert(
                const CRenderizable::Ptr& newObject,
                const std::string& viewportName = std::string("main"));
 
        /**
          * Inserts a set of objects into the scene, in the given viewport ("main"
         * by default).
          * \sa createViewport,getViewport
          */
        template <class T_it>
        inline void insert(
                const T_it& begin, const T_it& end,
                const std::string& vpn = std::string("main"))
        {
                for (T_it it = begin; it != end; it++) insert(*it, vpn);
        }
 
        /**Creates a new viewport, adding it to the scene and returning a pointer to
         * the new object.
          *  Names (case-sensitive) cannot be duplicated: if the name provided
         * coincides with an already existing viewport, a pointer to the existing
         * object will be returned.
          *  The first, default viewport, is named "main".
          */
        COpenGLViewport::Ptr createViewport(const std::string& viewportName);
 
        /** Returns the viewport with the given name, or nullptr if it does not
         * exist; note that the default viewport is named "main" and initially
         * occupies the entire rendering area.
          */
        COpenGLViewport::Ptr getViewport(
                const std::string& viewportName = std::string("main")) const;
 
        /** Render this scene */
        void render() const;
 
        size_t viewportsCount() const { return m_viewports.size(); }
        /** Clear the list of objects and viewports in the scene, deleting objects'
         * memory, and leaving just the default viewport with the default values.
          */
        void clear(bool createMainViewport = true);
 
        /** If disabled (default), the SceneViewer application will ignore the
         * camera of the "main" viewport and keep the viewport selected by the user
         * by hand; otherwise, the camera in the "main" viewport prevails.
          * \sa followCamera
          */
        void enableFollowCamera(bool enabled) { m_followCamera = enabled; }
        /** Return the value of "followCamera"
          * \sa enableFollowCamera
          */
        bool followCamera() const { return m_followCamera; }
        /** Returns the first object with a given name, or nullptr (an empty smart
         * pointer) if not found.
          */
        CRenderizable::Ptr getByName(
                const std::string& str,
                const std::string& viewportName = std::string("main"));
 
        /** Returns the i'th object of a given class (or of a descendant class), or
          nullptr (an empty smart pointer) if not found.
          *  Example:
          * \code
                   CSphere::Ptr obs = myscene.getByClass<CSphere>();
          * \endcode
          * By default (ith=0), the first observation is returned.
          */
        template <typename T>
        typename T::Ptr getByClass(const size_t& ith = 0) const
        {
                MRPT_START
                for (TListViewports::const_iterator it = m_viewports.begin();
                         it != m_viewports.end(); ++it)
                {
                        typename T::Ptr o = (*it)->getByClass<T>(ith);
                        if (o) return o;
                }
                return typename T::Ptr();  // Not found: return empty smart pointer
                MRPT_END
        }
 
        /** Removes the given object from the scene (it also deletes the object to
         * free its memory).
          */
        void removeObject(
                const CRenderizable::Ptr& obj,
                const std::string& viewportName = std::string("main"));
 
        /** Initializes all textures in the scene (See
         * opengl::CTexturedPlane::loadTextureInOpenGL)
          */
        void initializeAllTextures();
 
        /** Retrieves a list of all objects in text form.
          */
        void dumpListOfObjects(mrpt::utils::CStringList& lst);
 
        /** Saves the scene to a 3Dscene file, loadable by the application
         * SceneViewer3D
          * \sa loadFromFile
          * \return false on any error.
          */
        bool saveToFile(const std::string& fil) const;
 
        /** Loads the scene from a 3Dscene file, the format used by the application
         * SceneViewer3D.
          * \sa saveToFile
          * \return false on any error.
          */
        bool loadFromFile(const std::string& fil);
 
        /** Traces a ray
          */
        bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
 
        /** Evaluates the bounding box of the scene in the given viewport (default:
         * "main"). */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max,
                const std::string& vpn = std::string("main")) const;
 
        /** Recursive depth-first visit all objects in all viewports of the scene,
         * calling the user-supplied function
          *  The passed function must accept only one argument of type "const
         * mrpt::opengl::CRenderizable::Ptr &"
          */
        template <typename FUNCTOR>
        void visitAllObjects(FUNCTOR functor) const
        {
                MRPT_START
                for (TListViewports::const_iterator it = m_viewports.begin();
                         it != m_viewports.end(); ++it)
                        for (COpenGLViewport::const_iterator itO = (*it)->begin();
                                 itO != (*it)->end(); ++itO)
                                internal_visitAllObjects(functor, *itO);
                MRPT_END
        }
 
        /** Recursive depth-first visit all objects in all viewports of the scene,
         * calling the user-supplied function
          *  The passed function must accept a first argument of type "const
         * mrpt::opengl::CRenderizable::Ptr &"
          *  and a second one of type EXTRA_PARAM
          */
        template <typename FUNCTOR, typename EXTRA_PARAM>
        inline void visitAllObjects(
                FUNCTOR functor, const EXTRA_PARAM& userParam) const
        {
                visitAllObjects(std::bind2nd(functor, userParam));
        }
 
   protected:
        bool m_followCamera;
 
        typedef std::vector<COpenGLViewport::Ptr> TListViewports;
 
        /** The list of viewports, indexed by name. */
        TListViewports m_viewports;
 
        template <typename FUNCTOR>
        static void internal_visitAllObjects(
                FUNCTOR functor, const CRenderizable::Ptr& o)
        {
                functor(o);
                if (IS_CLASS(o, CSetOfObjects))
                {
                        CSetOfObjects::Ptr obj =
                                std::dynamic_pointer_cast<CSetOfObjects>(o);
                        for (CSetOfObjects::const_iterator it = obj->begin();
                                 it != obj->end(); ++it)
                                internal_visitAllObjects(functor, *it);
                }
        }
};
 
/** Inserts an openGL object into a scene. Allows call chaining. \sa
 * mrpt::opengl::COpenGLScene::insert  */
inline COpenGLScene::Ptr& operator<<(
        COpenGLScene::Ptr& s, const CRenderizable::Ptr& r)
{
        s->insert(r);
        return s;
}
/**Inserts any iterable collection of openGL objects into a scene, allowing call
 * chaining.  \sa mrpt::opengl::COpenGLScene::insert */
template <class T>
inline COpenGLScene::Ptr& operator<<(
        COpenGLScene::Ptr& s, const std::vector<T>& v)
{
        s->insert(v.begin(), v.end());
        return s;
}
}  // end namespace
 
}  // End of namespace
 
#endif