COpenGLStandardObject.cpp

Go to the documentation of this file.

/* +------------------------------------------------------------------------+
   |                     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/COpenGLStandardObject.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/serialization/stl_serialization.h>
#include "opengl_internals.h"

using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace mrpt::poses;

IMPLEMENTS_SERIALIZABLE(
    COpenGLStandardObject, CRenderizableDisplayList, mrpt::opengl)

#define COMPILE_TIME_ASSERT(N, expr) char dummy_constraint##N[expr]

#if MRPT_HAS_OPENGL_GLUT
COMPILE_TIME_ASSERT(GLENUM, sizeof(GLenum) == sizeof(_GLENUM));
#endif

/*---------------------------------------------------------------
                            render
  ---------------------------------------------------------------*/
void renderFunc(TPoint3D p)
{
#if MRPT_HAS_OPENGL_GLUT
    glVertex3f(p.x, p.y, p.z);
#else
    MRPT_UNUSED_PARAM(p);
#endif
}

void COpenGLStandardObject::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
    for_each(enabled.begin(), enabled.end(), glEnable);
    glShadeModel(GL_SMOOTH);
    // This line won't take any effect if GL_BLEND is not enabled, so it's safe
    // to always execute it.
    glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
    glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
    if (normal[0] || normal[1] || normal[2])
        glNormal3f(normal[0], normal[1], normal[2]);
    if (chunkSize == 0)
    {
        glBegin(type);
        for_each(vertices.begin(), vertices.end(), renderFunc);
        glEnd();
    }
    else
    {
        std::vector<TPoint3D>::const_iterator it = vertices.begin();
        do
        {
            glBegin(type);
            for_each(it, it + chunkSize, renderFunc);
            it += chunkSize;
            glEnd();
        } while (it != vertices.end());
    }
    for_each(enabled.begin(), enabled.end(), glDisable);
#endif
}

uint8_t COpenGLStandardObject::serializeGetVersion() const { return 1; }
void COpenGLStandardObject::serializeTo(
    mrpt::serialization::CArchive& out) const
{
    writeToStreamRender(out);
    out << type << vertices << chunkSize << enabled;
}

void COpenGLStandardObject::serializeFrom(
    mrpt::serialization::CArchive& in, uint8_t version)
{
    switch (version)
    {
        case 1:
        {
            readFromStreamRender(in);
            in >> type >> vertices >> chunkSize >> enabled;
        }
        break;
        default:
            MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
    };
    CRenderizableDisplayList::notifyChange();
}

bool COpenGLStandardObject::traceRay(
    const mrpt::poses::CPose3D& o, double& dist) const
{
    MRPT_UNUSED_PARAM(o);
    MRPT_UNUSED_PARAM(dist);
    // This object isn't intended to hold geometric properties. No trace ray
    // should be performed on it.
    return false;
}

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

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

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

void COpenGLStandardObject::disable(_GLENUM flag)
{
    std::vector<_GLENUM>::iterator it = enabled.begin();
    while (it != enabled.end())
    {
        if (*it == flag)
            it = enabled.erase(it);
        else
            ++it;
    }
    CRenderizableDisplayList::notifyChange();
}