CTexturedPlane.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_CTexturedPlane_H
#define opengl_CTexturedPlane_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
namespace opengl
{
/** A 2D plane in the XY plane with a texture image.
  *  \sa opengl::COpenGLScene
  * \ingroup mrpt_opengl_grp
  */
class CTexturedPlane : public CTexturedObject
{
        DEFINE_SERIALIZABLE(CTexturedPlane)
   protected:
        mutable float m_tex_x_min, m_tex_x_max;
        mutable float m_tex_y_min, m_tex_y_max;

        float m_xMin, m_xMax;
        float m_yMin, m_yMax;

        mutable bool polygonUpToDate;
        /** Used for ray-tracing */
        mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly;
        void updatePoly() const;
        void unloadTexture();

        void render_texturedobj() const override;

   public:
        /** Set the texture coordinates of the four corners (in the range 0-1). */
        void setTextureCornerCoords(
                float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
        {
                m_tex_x_min = tex_x_min;
                m_tex_x_max = tex_x_max;
                m_tex_y_min = tex_y_min;
                m_tex_y_max = tex_y_max;
                CRenderizableDisplayList::notifyChange();
        }

        /** Set the coordinates of the four corners that define the plane on the XY
         * plane. */
        void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
        {
                m_xMin = xMin;
                m_xMax = xMax;
                m_yMin = yMin;
                m_yMax = yMax;
                polygonUpToDate = false;
                CRenderizableDisplayList::notifyChange();
        }

        /** Get the coordinates of the four corners that define the plane on the XY
         * plane. */
        inline void getPlaneCorners(
                float& xMin, float& xMax, float& yMin, float& yMax) const
        {
                xMin = m_xMin;
                xMax = m_xMax;
                yMin = m_yMin;
                yMax = m_yMax;
        }

        /** Class factory  */
        static CTexturedPlane::Ptr Create(
                float x_min, float x_max, float y_min, float y_max);

        virtual bool traceRay(
                const mrpt::poses::CPose3D& o, double& dist) const override;
        virtual void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;

        /** Constructor
          */
        CTexturedPlane(
                float x_min = -1, float x_max = 1, float y_min = -1, float y_max = 1);

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

}  // end namespace

}  // End of namespace

#endif