CFrustum.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/CFrustum.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/opengl/gl_utils.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
 
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CFrustum, CRenderizableDisplayList, mrpt::opengl)
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CFrustum::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        if (m_color.A != 255 || (m_draw_planes && m_planes_color.A != 255))
        {
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }
        else
        {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
        }
 
        // Compute the 8 corners of the frustum:
        TPoint3Df pts[8];
        for (int j = 0; j < 2; j++)
        {
                const float r = j == 0 ? m_min_distance : m_max_distance;
                for (int i = 0; i < 4; i++) pts[4 * j + i].x = r;
                pts[4 * j + 0].y = -r * tan(m_fov_horz_left);
                pts[4 * j + 1].y = -r * tan(m_fov_horz_left);
                pts[4 * j + 2].y = r * tan(m_fov_horz_right);
                pts[4 * j + 3].y = r * tan(m_fov_horz_right);
                pts[4 * j + 0].z = -r * tan(m_fov_vert_down);
                pts[4 * j + 1].z = r * tan(m_fov_vert_up);
                pts[4 * j + 2].z = -r * tan(m_fov_vert_down);
                pts[4 * j + 3].z = r * tan(m_fov_vert_up);
        }
 
        // Render lines:
        if (m_draw_lines)
        {
                glDisable(GL_LIGHTING);  // Disable lights when drawing lines
 
                const int draw_path[] = {0, 1, 3, 2, 0, 4, 6, 2,
                                                                 3, 7, 6, 4, 5, 7, 5, 1};
 
                // wireframe:
                glLineWidth(m_lineWidth);
                checkOpenGLError();
                glBegin(GL_LINE_STRIP);
                glColor4ub(m_color.R, m_color.G, m_color.B, m_color.A);
 
                for (size_t i = 0; i < sizeof(draw_path) / sizeof(draw_path[0]); i++)
                        glVertex3fv(&pts[draw_path[i]].x);
 
                glEnd();
 
                glEnable(GL_LIGHTING);  // Disable lights when drawing lines
        }
 
        if (m_draw_planes)
        {
                // solid:
                glBegin(GL_TRIANGLES);
                glColor4ub(
                        m_planes_color.R, m_planes_color.G, m_planes_color.B,
                        m_planes_color.A);
 
                gl_utils::renderQuadWithNormal(pts[0], pts[2], pts[6], pts[4]);
                gl_utils::renderQuadWithNormal(pts[2], pts[3], pts[7], pts[6]);
                gl_utils::renderQuadWithNormal(pts[4], pts[6], pts[7], pts[5]);
                gl_utils::renderQuadWithNormal(pts[1], pts[5], pts[7], pts[3]);
                gl_utils::renderQuadWithNormal(pts[1], pts[5], pts[7], pts[3]);
                gl_utils::renderQuadWithNormal(pts[4], pts[5], pts[1], pts[0]);
 
                glEnd();
        }
 
        glDisable(GL_BLEND);
 
#endif
}
 
// Ctors
CFrustum::CFrustum()
        : m_min_distance(0.1f),
          m_max_distance(1.f),
          m_fov_horz_left(mrpt::DEG2RAD(45)),
          m_fov_horz_right(mrpt::DEG2RAD(45)),
          m_fov_vert_down(mrpt::DEG2RAD(30)),
          m_fov_vert_up(mrpt::DEG2RAD(30)),
          m_draw_lines(true),
          m_draw_planes(false),
          m_lineWidth(1.5f),
          m_planes_color(0xE0, 0x00, 0x00, 0x50)  // RGBA
{
        keep_min(m_fov_horz_left, DEG2RAD(89.9f));
        keep_max(m_fov_horz_left, 0);
        keep_min(m_fov_horz_right, DEG2RAD(89.9f));
        keep_max(m_fov_horz_right, 0);
        keep_min(m_fov_vert_down, DEG2RAD(89.9f));
        keep_max(m_fov_vert_down, 0);
        keep_min(m_fov_vert_up, DEG2RAD(89.9f));
        keep_max(m_fov_vert_up, 0);
}
 
CFrustum::CFrustum(
        float near_distance, float far_distance, float horz_FOV_degrees,
        float vert_FOV_degrees, float lineWidth, bool draw_lines, bool draw_planes)
        : m_min_distance(near_distance),
          m_max_distance(far_distance),
          m_fov_horz_left(mrpt::DEG2RAD(.5f * horz_FOV_degrees)),
          m_fov_horz_right(mrpt::DEG2RAD(.5f * horz_FOV_degrees)),
          m_fov_vert_down(mrpt::DEG2RAD(.5f * vert_FOV_degrees)),
          m_fov_vert_up(mrpt::DEG2RAD(.5f * vert_FOV_degrees)),
          m_draw_lines(draw_lines),
          m_draw_planes(draw_planes),
          m_lineWidth(lineWidth),
          m_planes_color(0xE0, 0x00, 0x00, 0x50)  // RGBA
{
}
 
uint8_t CFrustum::serializeGetVersion() const { return 0; }
void CFrustum::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        // version 0
        out << m_min_distance << m_max_distance << m_fov_horz_left
                << m_fov_horz_right << m_fov_vert_down << m_fov_vert_up << m_draw_lines
                << m_draw_planes << m_lineWidth << m_planes_color.R << m_planes_color.G
                << m_planes_color.B << m_planes_color.A;
}
 
void CFrustum::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                        readFromStreamRender(in);
                        in >> m_min_distance >> m_max_distance >> m_fov_horz_left >>
                                m_fov_horz_right >> m_fov_vert_down >> m_fov_vert_up >>
                                m_draw_lines >> m_draw_planes >> m_lineWidth >>
                                m_planes_color.R >> m_planes_color.G >> m_planes_color.B >>
                                m_planes_color.A;
                        break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool CFrustum::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        MRPT_UNUSED_PARAM(o);
        MRPT_UNUSED_PARAM(dist);
        THROW_EXCEPTION("TO DO");
}
 
// setters:
void CFrustum::setNearFarPlanes(
        const float near_distance, const float far_distance)
{
        m_min_distance = near_distance;
        m_max_distance = far_distance;
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setHorzFOV(const float fov_horz_degrees)
{
        m_fov_horz_right = m_fov_horz_left = 0.5f * mrpt::DEG2RAD(fov_horz_degrees);
        keep_min(m_fov_horz_left, DEG2RAD(89.9f));
        keep_max(m_fov_horz_left, 0);
        keep_min(m_fov_horz_right, DEG2RAD(89.9f));
        keep_max(m_fov_horz_right, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setVertFOV(const float fov_vert_degrees)
{
        m_fov_vert_down = m_fov_vert_up = 0.5f * mrpt::DEG2RAD(fov_vert_degrees);
        keep_min(m_fov_vert_down, DEG2RAD(89.9f));
        keep_max(m_fov_vert_down, 0);
        keep_min(m_fov_vert_up, DEG2RAD(89.9f));
        keep_max(m_fov_vert_up, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setHorzFOVAsymmetric(
        const float fov_horz_left_degrees, const float fov_horz_right_degrees)
{
        m_fov_horz_left = mrpt::DEG2RAD(fov_horz_left_degrees);
        m_fov_horz_right = mrpt::DEG2RAD(fov_horz_right_degrees);
        keep_min(m_fov_horz_left, DEG2RAD(89.9f));
        keep_max(m_fov_horz_left, 0);
        keep_min(m_fov_horz_right, DEG2RAD(89.9f));
        keep_max(m_fov_horz_right, 0);
        CRenderizableDisplayList::notifyChange();
}
void CFrustum::setVertFOVAsymmetric(
        const float fov_vert_down_degrees, const float fov_vert_up_degrees)
{
        m_fov_vert_down = mrpt::DEG2RAD(fov_vert_down_degrees);
        m_fov_vert_up = mrpt::DEG2RAD(fov_vert_up_degrees);
        keep_min(m_fov_vert_down, DEG2RAD(89.9f));
        keep_max(m_fov_vert_down, 0);
        keep_min(m_fov_vert_up, DEG2RAD(89.9f));
        keep_max(m_fov_vert_up, 0);
        CRenderizableDisplayList::notifyChange();
}
 
void CFrustum::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        // Compute the 8 corners of the frustum:
        TPoint3Df pts[8];
        for (int j = 0; j < 2; j++)
        {
                const float r = j == 0 ? m_min_distance : m_max_distance;
                for (int i = 0; i < 4; i++) pts[4 * j + i].x = r;
                pts[4 * j + 0].y = -r * tan(m_fov_horz_left);
                pts[4 * j + 1].y = -r * tan(m_fov_horz_left);
                pts[4 * j + 2].y = r * tan(m_fov_horz_right);
                pts[4 * j + 3].y = r * tan(m_fov_horz_right);
                pts[4 * j + 0].z = -r * tan(m_fov_vert_down);
                pts[4 * j + 1].z = r * tan(m_fov_vert_up);
                pts[4 * j + 2].z = -r * tan(m_fov_vert_down);
                pts[4 * j + 3].z = r * tan(m_fov_vert_up);
        }
 
        bb_min = TPoint3D(
                std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
                std::numeric_limits<double>::max());
        bb_max = TPoint3D(
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max(),
                -std::numeric_limits<double>::max());
        for (int i = 0; i < 8; i++)
        {
                keep_min(bb_min.x, pts[i].x);
                keep_min(bb_min.y, pts[i].y);
                keep_min(bb_min.z, pts[i].z);
 
                keep_max(bb_max.x, pts[i].x);
                keep_max(bb_max.y, pts[i].y);
                keep_max(bb_max.z, pts[i].z);
        }
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}