CSetOfTexturedTriangles.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_CSetOfTexturedTriangles_H
#define opengl_CSetOfTexturedTriangles_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
namespace utils
{
class CStream;
}

namespace opengl
{
/** A set of textured triangles.
  *  This class can be used to draw any solid, arbitrarily complex object with
 * textures.
  *  \sa opengl::COpenGLScene
  * \ingroup mrpt_opengl_grp
  */
class CSetOfTexturedTriangles : public CTexturedObject
{
        DEFINE_SERIALIZABLE(CSetOfTexturedTriangles)

   public:
        /** Triangle vertex. This structure encapsulates the vertex coordinates and
         * the image pixels.
          */
        struct TVertex
        {
                /** Default constructor                  */
                TVertex();
                TVertex(float x, float y, float z, uint32_t u, uint32_t v);
                /** 3D vertex coordinates. */
                float m_x, m_y, m_z;
                /** 2D texture coordinates. Notice that the texture coordinates are 2D
                 * pixels!!! */
                uint32_t m_u, m_v;
                void writeToStream(mrpt::utils::CStream& out) const;
                void readFromStream(mrpt::utils::CStream& in);
        };

        /** Triangle. This structure encapsulates the triangle vertices.
          */
        struct TTriangle
        {
                /** Default constructor */
                TTriangle();
                TTriangle(TVertex v1, TVertex v2, TVertex v3);
                /** vertices */
                TVertex m_v1, m_v2, m_v3;
                void writeToStream(mrpt::utils::CStream& out) const;
                void readFromStream(mrpt::utils::CStream& in);
        };

        /** 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;

   protected:
        /** Triangle array. */
        std::vector<TTriangle> m_triangles;

        void render_texturedobj() const override;

   public:
        void clearTriangles()
        {
                m_triangles.clear();
                CRenderizableDisplayList::notifyChange();
        }
        size_t getTrianglesCount() const { return m_triangles.size(); }
        const TTriangle& getTriangle(size_t idx) const
        {
                ASSERT_(idx < m_triangles.size());
                return m_triangles[idx];
        }
        void getTriangle(size_t idx, TTriangle& t) const
        {
                ASSERT_(idx < m_triangles.size());
                t = m_triangles[idx];
                CRenderizableDisplayList::notifyChange();
        }
        void insertTriangle(const TTriangle& t)
        {
                m_triangles.push_back(t);
                CRenderizableDisplayList::notifyChange();
        }

        virtual bool traceRay(
                const mrpt::poses::CPose3D& o, double& dist) const override;

        /** Constructor
          */
        CSetOfTexturedTriangles() : m_triangles() {}
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CSetOfTexturedTriangles();
};

}  // end namespace

}  // End of namespace

#endif