CGridPlaneXZ.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/CGridPlaneXZ.h>
#include <mrpt/serialization/CArchive.h>
 
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
 
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CGridPlaneXZ, CRenderizableDisplayList, mrpt::opengl)
 
CGridPlaneXZ::Ptr CGridPlaneXZ::Create(
        float xMin, float xMax, float zMin, float zMax, float y, float frequency,
        float lineWidth, bool antiAliasing)
{
        return CGridPlaneXZ::Ptr(
                new CGridPlaneXZ(
                        xMin, xMax, zMin, zMax, y, frequency, lineWidth, antiAliasing));
}
 
/** Constructor */
CGridPlaneXZ::CGridPlaneXZ(
        float xMin, float xMax, float zMin, float zMax, float y, float frequency,
        float lineWidth, bool antiAliasing)
        : m_xMin(xMin),
          m_xMax(xMax),
          m_zMin(zMin),
          m_zMax(zMax),
          m_plane_y(y),
          m_frequency(frequency),
          m_lineWidth(lineWidth),
          m_antiAliasing(antiAliasing)
{
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CGridPlaneXZ::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);
 
        ASSERT_(m_frequency >= 0);
 
        for (float z = m_zMin; z <= m_zMax; z += m_frequency)
        {
                glVertex3f(m_xMin, m_plane_y, z);
                glVertex3f(m_xMax, m_plane_y, z);
        }
 
        for (float x = m_xMin; x <= m_xMax; x += m_frequency)
        {
                glVertex3f(x, m_plane_y, m_zMin);
                glVertex3f(x, m_plane_y, m_zMax);
        }
 
        glEnd();
        glEnable(GL_LIGHTING);
 
        // End antialiasing:
        if (m_antiAliasing)
        {
                glPopAttrib();
                checkOpenGLError();
        }
#endif
}
 
uint8_t CGridPlaneXZ::serializeGetVersion() const { return 1; }
void CGridPlaneXZ::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        out << m_xMin << m_xMax;
        out << m_zMin << m_zMax << m_plane_y;
        out << m_frequency;
        out << m_lineWidth << m_antiAliasing;  // v1
}
 
void CGridPlaneXZ::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                case 1:
                {
                        readFromStreamRender(in);
                        in >> m_xMin >> m_xMax;
                        in >> m_zMin >> m_zMax >> m_plane_y;
                        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 CGridPlaneXZ::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = m_xMin;
        bb_min.y = 0;
        bb_min.z = m_zMin;
 
        bb_max.x = m_xMax;
        bb_max.y = 0;
        bb_max.z = m_zMax;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}