MRPT  1.9.9
CSimpleLine.cpp
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1 /* +------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2019, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
8  +------------------------------------------------------------------------+ */
9 
10 #include "opengl-precomp.h" // Precompiled header
11 
14 #include "opengl_internals.h"
15 
16 using namespace mrpt;
17 using namespace mrpt::opengl;
18 
19 using namespace mrpt::math;
20 using namespace std;
21 
23 
25  float x0, float y0, float z0, float x1, float y1, float z1, float lineWidth,
26  bool antiAliasing)
27  : m_x0(x0),
28  m_y0(y0),
29  m_z0(z0),
30  m_x1(x1),
31  m_y1(y1),
32  m_z1(z1),
33  m_lineWidth(lineWidth),
34  m_antiAliasing(antiAliasing)
35 {
36 }
37 
38 /*---------------------------------------------------------------
39  render_dl
40  ---------------------------------------------------------------*/
42 {
43 #if MRPT_HAS_OPENGL_GLUT
44  // Enable antialiasing:
45  if (m_antiAliasing)
46  {
47  glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
48  glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
49  glEnable(GL_BLEND);
50  glEnable(GL_LINE_SMOOTH);
51  }
52  glLineWidth(m_lineWidth);
53 
54  glDisable(GL_LIGHTING); // Disable lights when drawing lines
55  glBegin(GL_LINES);
56 
57  glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
58  glVertex3f(m_x0, m_y0, m_z0);
59  glVertex3f(m_x1, m_y1, m_z1);
60 
61  glEnd();
63  glEnable(GL_LIGHTING); // Disable lights when drawing lines
64 
65  // End antialiasing:
66  if (m_antiAliasing)
67  {
68  glPopAttrib();
70  }
71 #endif
72 }
73 
74 uint8_t CSimpleLine::serializeGetVersion() const { return 1; }
76 {
77  writeToStreamRender(out);
78  out << m_x0 << m_y0 << m_z0;
79  out << m_x1 << m_y1 << m_z1 << m_lineWidth;
80  out << m_antiAliasing; // Added in v1
81 }
82 
84  mrpt::serialization::CArchive& in, uint8_t version)
85 {
86  switch (version)
87  {
88  case 1:
89  {
90  readFromStreamRender(in);
91  in >> m_x0 >> m_y0 >> m_z0;
92  in >> m_x1 >> m_y1 >> m_z1 >> m_lineWidth;
93  if (version >= 1)
94  in >> m_antiAliasing;
95  else
96  m_antiAliasing = true;
97  }
98  break;
99  default:
101  };
103 }
104 
107 {
108  bb_min.x = std::min(m_x0, m_x1);
109  bb_min.y = std::min(m_y0, m_y1);
110  bb_min.z = std::min(m_z0, m_z1);
111 
112  bb_max.x = std::max(m_x0, m_x1);
113  bb_max.y = std::max(m_y0, m_y1);
114  bb_max.z = std::max(m_z0, m_z1);
115 
116  // Convert to coordinates of my parent:
117  m_pose.composePoint(bb_min, bb_min);
118  m_pose.composePoint(bb_max, bb_max);
119 }
void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
To be added to all CSerializable-classes implementation files.
void serializeTo(mrpt::serialization::CArchive &out) const override
Pure virtual method for writing (serializing) to an abstract archive.
Definition: CSimpleLine.cpp:75
STL namespace.
A renderizable object suitable for rendering with OpenGL&#39;s display lists.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
Definition: exceptions.h:97
This base provides a set of functions for maths stuff.
void render_dl() const override
Render.
Definition: CSimpleLine.cpp:41
void getBoundingBox(mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
Evaluates the bounding box of this object (including possible children) in the coordinate frame of th...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Virtual base class for "archives": classes abstracting I/O streams.
Definition: CArchive.h:54
A line segment.
Definition: CSimpleLine.h:19
void serializeFrom(mrpt::serialization::CArchive &in, uint8_t serial_version) override
Pure virtual method for reading (deserializing) from an abstract archive.
Definition: CSimpleLine.cpp:83
mrpt::vision::TStereoCalibResults out
void checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
Definition: gl_utils.cpp:155
The namespace for 3D scene representation and rendering.
Definition: CGlCanvasBase.h:15
const auto bb_max
const auto bb_min
uint8_t serializeGetVersion() const override
Must return the current versioning number of the object.
Definition: CSimpleLine.cpp:74
Lightweight 3D point.
Definition: TPoint3D.h:90



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