CCylinder.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/CCylinder.h>
#include <mrpt/math/geometry.h>
#include <mrpt/serialization/CArchive.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
 
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CCylinder, CRenderizableDisplayList, mrpt::opengl)
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CCylinder::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        glEnable(GL_BLEND);
        checkOpenGLError();
        glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        checkOpenGLError();
        GLUquadricObj* obj = gluNewQuadric();
 
        // This is required to draw cylinders of negative height.
        const float absHeight = std::abs(mHeight);
        if (mHeight < 0)
        {
                glPushMatrix();
                glTranslatef(0, 0, mHeight);
        }
 
        gluCylinder(obj, mBaseRadius, mTopRadius, absHeight, mSlices, mStacks);
 
        if (mHeight < 0) glPopMatrix();
 
        if (mHasBottomBase) gluDisk(obj, 0, mBaseRadius, mSlices, 1);
        if (mHasTopBase && mTopRadius > 0)
        {
                glPushMatrix();
                glTranslatef(0, 0, mHeight);
                gluDisk(obj, 0, mTopRadius, mSlices, 1);
                glPopMatrix();
        }
        gluDeleteQuadric(obj);
        glDisable(GL_BLEND);
 
#endif
}
 
uint8_t CCylinder::serializeGetVersion() const { return 0; }
void CCylinder::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        // version 0
        out << mBaseRadius << mTopRadius << mHeight << mSlices << mStacks
                << mHasBottomBase << mHasTopBase;
}
void CCylinder::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                        readFromStreamRender(in);
                        in >> mBaseRadius >> mTopRadius >> mHeight >> mSlices >> mStacks >>
                                mHasBottomBase >> mHasTopBase;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool solveEqn(double a, double b, double c, double& t)
{  // Actually, the b from the quadratic equation is the DOUBLE of this. But
        // this way, operations are simpler.
        if (a < 0)
        {
                a = -a;
                b = -b;
                c = -c;
        }
        if (a >= mrpt::math::getEpsilon())
        {
                double delta = square(b) - a * c;
                if (delta == 0)
                        return (t = -b / a) >= 0;
                else if (delta >= 0)
                {
                        delta = sqrt(delta);
                        if (-b - delta > 0)
                        {
                                t = (-b - delta) / a;
                                return true;
                        }
                        else if (-b + delta > 0)
                        {
                                t = (-b + delta) / a;
                                return true;
                        }  // else return false;        Both solutions are negative
                }  // else return false;        Both solutions are complex
        }
        else if (abs(b) >= mrpt::math::getEpsilon())
        {
                t = -c / (b + b);
                return t >= 0;
        }  // else return false;        This actually isn't an equation
        return false;
}
 
bool CCylinder::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        TLine3D lin;
        mrpt::math::createFromPoseX((o - this->m_pose).asTPose(), lin);
        lin.unitarize();  // By adding this line, distance from any point of the
        // line to its base is exactly equal to the "t".
        if (abs(lin.director[2]) < getEpsilon())
        {
                if (!reachesHeight(lin.pBase.z)) return false;
                float r;
                return getRadius(static_cast<float>(lin.pBase.z), r)
                                   ? solveEqn(
                                                 square(lin.director[0]) + square(lin.director[1]),
                                                 lin.director[0] * lin.pBase.x +
                                                         lin.director[1] * lin.pBase.y,
                                                 square(lin.pBase.x) + square(lin.pBase.y) - square(r),
                                                 dist)
                                   : false;
        }
        bool fnd = false;
        double nDist, tZ0;
        if (mHasBottomBase && (tZ0 = -lin.pBase.z / lin.director[2]) > 0)
        {
                nDist = sqrt(
                        square(lin.pBase.x + tZ0 * lin.director[0]) +
                        square(lin.pBase.y + tZ0 * lin.director[1]));
                if (nDist <= mBaseRadius)
                {
                        fnd = true;
                        dist = tZ0;
                }
        }
        if (mHasTopBase)
        {
                tZ0 = (mHeight - lin.pBase.z) / lin.director[2];
                if (tZ0 > 0 && (!fnd || tZ0 < dist))
                {
                        nDist = sqrt(
                                square(lin.pBase.x + tZ0 * lin.director[0]) +
                                square(lin.pBase.y + tZ0 * lin.director[1]));
                        if (nDist <= mTopRadius)
                        {
                                fnd = true;
                                dist = tZ0;
                        }
                }
        }
        if (mBaseRadius == mTopRadius)
        {
                if (solveEqn(
                                square(lin.director[0]) + square(lin.director[1]),
                                lin.director[0] * lin.pBase.x + lin.director[1] * lin.pBase.y,
                                square(lin.pBase.x) + square(lin.pBase.y) - square(mBaseRadius),
                                nDist))
                        if ((!fnd || nDist < dist) &&
                                reachesHeight(lin.pBase.z + nDist * lin.director[2]))
                        {
                                dist = nDist;
                                fnd = true;
                        }
        }
        else
        {
                double slope = (mTopRadius - mBaseRadius) / mHeight;
                if (solveEqn(
                                square(lin.director[0]) + square(lin.director[1]) -
                                        square(lin.director[2] * slope),
                                lin.pBase.x * lin.director[0] + lin.pBase.y * lin.director[1] -
                                        (mBaseRadius + slope * lin.pBase.z) * slope *
                                                lin.director[2],
                                square(lin.pBase.x) + square(lin.pBase.y) -
                                        square(mBaseRadius + slope * lin.pBase.z),
                                nDist))
                        if ((!fnd || nDist < dist) &&
                                reachesHeight(lin.pBase.z + nDist * lin.director[2]))
                        {
                                dist = nDist;
                                fnd = true;
                        }
        }
        return fnd;
}
 
void CCylinder::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = -std::max(mBaseRadius, mTopRadius);
        bb_min.y = bb_min.x;
        bb_min.z = 0;
 
        bb_max.x = std::max(mBaseRadius, mTopRadius);
        bb_max.y = bb_max.x;
        bb_max.z = mHeight;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}