CDisk.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/CDisk.h>
#include <mrpt/serialization/CArchive.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
 
using mrpt::poses::CPose3D;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CDisk, CRenderizableDisplayList, mrpt::opengl)
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CDisk::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();
 
        gluDisk(obj, m_radiusIn, m_radiusOut, m_nSlices, m_nLoops);
 
        gluDeleteQuadric(obj);
 
        glDisable(GL_BLEND);
#endif
}
 
uint8_t CDisk::serializeGetVersion() const { return 0; }
void CDisk::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        out << m_radiusIn << m_radiusOut;
        out << m_nSlices << m_nLoops;
}
 
void CDisk::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        readFromStreamRender(in);
                        in >> m_radiusIn >> m_radiusOut;
                        in >> m_nSlices;
                        in >> m_nLoops;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool CDisk::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        // The disk is contained initially in a plane which contains (0,0,0),
        // (1,0,0) and (0,1,0)
        // These points are converted into:
        //(x,y,z)
        //( cos(w)*cos(p)+x, sin(w)*cos(p)*y, -sin(p)+z )
        //( -sin(w)*cos(r)+cos(w)*sin(p)*sin(r)+x,
        // cos(w)*cos(r)+sin(w)*sin(p)*sin(r)+y, cos(p)*sin(r)*z )
        CPose3D transf = this->m_pose - o;
        double x = transf.x(), y = transf.y(), z = transf.z(), w = transf.yaw(),
                   p = transf.pitch(), r = transf.roll();
        double coef = sin(w) * sin(r) + cos(w) * sin(p) * cos(r);
        // coef is the first component of the normal to the transformed Z plane. So,
        // the scalar product between
        // this normal and (1,0,0) (which happens to be the beam's vector) equals
        // coef. And if it's 0, then both
        // are orthogonal, that is, the beam is parallel to the plane.
        if (coef == 0) return false;
        // The following expression yields the collision point between the plane and
        // the beam (the y and z
        // coordinates are zero).
        dist = x +
                   (y * (sin(p) * sin(w) * cos(r) - cos(w) * sin(r)) +
                        z * cos(p) * cos(r)) /
                           coef;
        if (dist < 0) return false;
        // Euclidean distance is invariant to rotations...
        double d2 = (x - dist) * (x - dist) + y * y + z * z;
        return d2 >= (m_radiusIn * m_radiusIn) && d2 <= (m_radiusOut * m_radiusOut);
 
        // IMPORTANT NOTICE: using geometric intersection between Z plane and
        // CPose's line intersection is SLOWER than the used method.
}
 
void CDisk::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = -std::max(m_radiusIn, m_radiusOut);
        bb_min.y = bb_min.x;
        bb_min.z = 0;
 
        bb_max.x = std::max(m_radiusIn, m_radiusOut);
        bb_max.y = bb_max.x;
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}