CGridPlaneXY.cpp

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/* +------------------------------------------------------------------------+
   |                     Mobile Robot Programming Toolkit (MRPT)            |
   |                          http://www.mrpt.org/                          |
   |                                                                        |
   | Copyright (c) 2005-2018, 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 |
   +------------------------------------------------------------------------+ */

#include "opengl-precomp.h"  // Precompiled header

#include <mrpt/opengl/CGridPlaneXY.h>
#include <mrpt/serialization/CArchive.h>

#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;

using namespace std;

IMPLEMENTS_SERIALIZABLE(CGridPlaneXY, CRenderizableDisplayList, mrpt::opengl)

CGridPlaneXY::Ptr CGridPlaneXY::Create(
    float xMin, float xMax, float yMin, float yMax, float z, float frequency,
    float lineWidth, bool antiAliasing)
{
    return CGridPlaneXY::Ptr(
        new CGridPlaneXY(
            xMin, xMax, yMin, yMax, z, frequency, lineWidth, antiAliasing));
}
/** Constructor  */
CGridPlaneXY::CGridPlaneXY(
    float xMin, float xMax, float yMin, float yMax, float z, float frequency,
    float lineWidth, bool antiAliasing)
    : m_xMin(xMin),
      m_xMax(xMax),
      m_yMin(yMin),
      m_yMax(yMax),
      m_plane_z(z),
      m_frequency(frequency),
      m_lineWidth(lineWidth),
      m_antiAliasing(antiAliasing)
{
}

/*---------------------------------------------------------------
                    render_dl
  ---------------------------------------------------------------*/
void CGridPlaneXY::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
    ASSERT_(m_frequency >= 0);

    // Enable antialiasing:
    if (m_antiAliasing)
    {
        glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        glEnable(GL_BLEND);
        glEnable(GL_LINE_SMOOTH);
    }
    glLineWidth(m_lineWidth);

    glDisable(GL_LIGHTING);  // Disable lights when drawing lines
    glBegin(GL_LINES);

    for (float y = m_yMin; y <= m_yMax; y += m_frequency)
    {
        glVertex3f(m_xMin, y, m_plane_z);
        glVertex3f(m_xMax, y, m_plane_z);
    }

    for (float x = m_xMin; x <= m_xMax; x += m_frequency)
    {
        glVertex3f(x, m_yMin, m_plane_z);
        glVertex3f(x, m_yMax, m_plane_z);
    }

    glEnd();
    glEnable(GL_LIGHTING);

    // End antialiasing:
    if (m_antiAliasing)
    {
        glPopAttrib();
        checkOpenGLError();
    }
#endif
}

uint8_t CGridPlaneXY::serializeGetVersion() const { return 1; }
void CGridPlaneXY::serializeTo(mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << m_xMin << m_xMax;
    out << m_yMin << m_yMax << m_plane_z;
    out << m_frequency;
    out << m_lineWidth << m_antiAliasing;  // v1
}

void CGridPlaneXY::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 0:
        case 1:
        {
            readFromStreamRender(in);
            in >> m_xMin >> m_xMax;
            in >> m_yMin >> m_yMax >> m_plane_z;
            in >> m_frequency;
            if (version >= 1)
                in >> m_lineWidth >> m_antiAliasing;
            else
            {
                m_lineWidth = 1.0f;
                m_antiAliasing = true;
            }
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
    CRenderizableDisplayList::notifyChange();
}

void CGridPlaneXY::getBoundingBox(
    mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
    bb_min.x = m_xMin;
    bb_min.y = m_yMin;
    bb_min.z = 0;

    bb_max.x = m_xMax;
    bb_max.y = m_yMax;
    bb_max.z = 0;

    // Convert to coordinates of my parent:
    m_pose.composePoint(bb_min, bb_min);
    m_pose.composePoint(bb_max, bb_max);
}