32 #define MAX_GL_TEXTURE_IDS 0x10000 33 #define MAX_GL_TEXTURE_IDS_MASK 0x0FFFF 47 std::recursive_mutex
cs;
57 CRenderizable::CRenderizable()
60 m_color(255, 255, 255, 255),
79 std::lock_guard<std::recursive_mutex> lock(booker.cs);
81 unsigned int ret = booker.next_free_texture;
82 unsigned int tries = 0;
83 while (ret != 0 && booker.freeTextureNames[ret])
90 "Maximum number of textures (%u) excedeed! (are you deleting " 95 booker.freeTextureNames[ret] =
true;
96 booker.next_free_texture = ret + 1;
104 std::lock_guard<std::recursive_mutex> lock(booker.
cs);
124 const uint8_t serialization_version =
127 const bool all_scales_equal =
129 const bool all_scales_unity = (all_scales_equal &&
m_scale_x == 1.0f);
131 const uint8_t magic_signature[2] = {
137 serialization_version |
138 (all_scales_unity ? 0xC0 : (all_scales_equal ? 0xA0 : 0x80)))};
140 out << magic_signature[0] << magic_signature[1];
154 if (!all_scales_unity)
156 if (all_scales_equal)
174 uint8_t magic_signature[2 + 2];
180 in >> magic_signature[0] >> magic_signature[1];
182 const bool is_new_format =
183 (magic_signature[0] == 0xFF) && ((magic_signature[1] & 0x80) != 0);
188 uint8_t serialization_version = (magic_signature[1] & 0x1F);
189 const bool all_scales_unity = ((magic_signature[1] & 0x40) != 0);
190 const bool all_scales_equal_but_not_unity =
191 ((magic_signature[1] & 0x20) != 0);
193 switch (serialization_version)
214 if (all_scales_unity)
218 if (all_scales_equal_but_not_unity)
232 "Can't parse CRenderizable standard data field: corrupt " 233 "data stream or format in a newer MRPT format? " 234 "(serialization version=%u)",
235 static_cast<unsigned int>(serialization_version))
243 in >> magic_signature[2] >> magic_signature[3];
246 magic_signature_uint32;
253 float yaw_deg, pitch_deg, roll_deg;
256 in >> col.
R >> col.
G >> col.
B >> col.
A;
258 col.
R / 255, col.
G / 255, col.
B / 255,
275 if (f != 16.0f && f != 17.0f)
void renderTextBitmap(const char *str, void *fontStyle)
This method is safe for calling from within ::render() methods.
static TOpenGLNameBooker & instance()
double x() const
Common members of all points & poses classes.
std::vector< bool > freeTextureNames
void writeToStreamRender(utils::CStream &out) const
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
unsigned int next_free_texture
mrpt::utils::CStream & operator<<(mrpt::utils::CStream &out, const mrpt::opengl::CLight &o)
unsigned __int16 uint16_t
The virtual base class which provides a unified interface for all persistent objects in MRPT...
#define MAX_GL_TEXTURE_IDS
virtual bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const
Simulation of ray-trace, given a pose.
#define THROW_EXCEPTION_FMT(_FORMAT_STRING,...)
void setYawPitchRoll(const double yaw_, const double pitch_, const double roll_)
Set the 3 angles of the 3D pose (in radians) - This method recomputes the internal rotation coordinat...
#define MAX_GL_TEXTURE_IDS_MASK
void WriteBuffer(const void *Buffer, size_t Count)
Writes a block of bytes to the stream from Buffer.
The base class of 3D objects that can be directly rendered through OpenGL.
double pitch() const
Get the PITCH angle (in radians)
double yaw() const
Get the YAW angle (in radians)
std::shared_ptr< CRenderizable > Ptr
mrpt::poses::CPose3D m_pose
6D pose wrt the parent coordinate reference.
float m_scale_x
Scale components to apply to the object (default=1)
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
TOpenGLFont
Existing fonts for 2D texts in mrpt::opengl methods.
#define MRPT_UNUSED_PARAM(a)
Can be used to avoid "not used parameters" warnings from the compiler.
mrpt::utils::TColor m_color
Color components in the range [0,255].
void readFromStreamRender(utils::CStream &in)
GLsizei const GLchar ** string
A class used to store a 2D point.
A class used to store a 3D point.
double roll() const
Get the ROLL angle (in radians)
static void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLdouble GLdouble GLdouble r
static unsigned int getNewTextureNumber()
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them f...
static int textBitmapWidth(const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
A class used to store a 2D pose, including the 2D coordinate point and a heading (phi) angle...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
virtual CRenderizable & setColor_u8(const mrpt::utils::TColor &c)
int textBitmapWidth(const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
void setFromValues(const double x0, const double y0, const double z0, const double yaw=0, const double pitch=0, const double roll=0)
Set the pose from a 3D position (meters) and yaw/pitch/roll angles (radians) - This method recomputes...
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
The namespace for 3D scene representation and rendering.
A RGB color - floats in the range [0,1].
CRenderizable & setPose(const mrpt::poses::CPose3D &o)
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
static void renderTextBitmap(const char *str, void *fontStyle)
This method is safe for calling from within ::render() methods.
bool m_visible
Is the object visible? (default=true)
unsigned __int32 uint32_t
mrpt::math::TPose3D getPose() const
Returns the 3D pose of the object as TPose3D.
static void releaseTextureName(unsigned int i)
#define IMPLEMENTS_VIRTUAL_SERIALIZABLE( class_name, base_class_name, NameSpace)
This must be inserted as implementation of some required members for virtual CSerializable classes: ...