CSetOfLines.h

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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 |
   +------------------------------------------------------------------------+ */
#pragma once
 
#include <mrpt/opengl/CRenderizableDisplayList.h>
#include <mrpt/math/lightweight_geom_data.h>
 
namespace mrpt
{
namespace opengl
{
/** A set of independent lines (or segments), one line with its own start and
 * end positions (X,Y,Z).
 * Optionally, the vertices can be also shown as dots.
 *  \sa opengl::COpenGLScene
 *
 *  <div align="center">
 *  <table border="0" cellspan="4" cellspacing="4" style="border-width: 1px;
 * border-style: solid;">
 *   <tr> <td> mrpt::opengl::CSetOfLines </td> <td> \image html
 * preview_CSetOfLines.png </td> </tr>
 *  </table>
 *  </div>
 *
 * \ingroup mrpt_opengl_grp
 */
class CSetOfLines : public CRenderizableDisplayList
{
        DEFINE_SERIALIZABLE(CSetOfLines)
   protected:
        std::vector<mrpt::math::TSegment3D> mSegments;
        float mLineWidth;
        bool m_antiAliasing;
        /** 0: means hidden */
        float m_verticesPointSize;
 
   public:
        /**
         * Clear the list of segments
         */
        inline void clear()
        {
                mSegments.clear();
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Sets the width with which lines will be drawn.
         */
        inline void setLineWidth(float w)
        {
                mLineWidth = w;
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Gets the width with which lines are drawn.
         */
        float getLineWidth() const { return mLineWidth; }
        float getVerticesPointSize() const;
        /** Enable showing vertices as dots if size_points>0 */
        void setVerticesPointSize(const float size_points);
        /**
         * Appends a line to the set.
         */
        inline void appendLine(const mrpt::math::TSegment3D& sgm)
        {
                mSegments.push_back(sgm);
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Appends a line to the set, given the coordinates of its bounds.
         */
        inline void appendLine(
                float x0, float y0, float z0, float x1, float y1, float z1)
        {
                appendLine(mrpt::math::TSegment3D(
                        mrpt::math::TPoint3D(x0, y0, z0),
                        mrpt::math::TPoint3D(x1, y1, z1)));
                CRenderizableDisplayList::notifyChange();
        }
 
        /** Appends a line whose starting point is the end point of the last line
         * (similar to OpenGL's GL_LINE_STRIP)
         *  \exception std::exception If there is no previous segment */
        inline void appendLineStrip(float x, float y, float z)
        {
                ASSERT_(!this->empty());
                this->appendLine(this->rbegin()->point2, mrpt::math::TPoint3D(x, y, z));
        }
        //! \overload
        template <class U>
        inline void appendLineStrip(const U& point)
        {
                ASSERT_(!this->empty());
                this->appendLine(this->rbegin()->point2, point);
        }
 
        /**
         * Appends any iterable collection of lines to the set. Note that this
         * includes another CSetOfLines.
         * \sa appendLine
         */
        template <class T>
        inline void appendLines(const T& sgms)
        {
                mSegments.insert(mSegments.end(), sgms.begin(), sgms.end());
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Appends certain amount of lines, located between two iterators, into the
         * set.
         * \sa appendLine
         */
        template <class T_it>
        inline void appendLines(const T_it& begin, const T_it& end)
        {
                mSegments.reserve(mSegments.size() + (end - begin));
                mSegments.insert(mSegments.end(), begin, end);
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Resizes the set.
         * \sa reserve
         */
        void resize(size_t nLines)
        {
                mSegments.resize(nLines);
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Reserves an amount of lines to the set. This method should be used when
         * some known amount of lines is going to be inserted, so that only a memory
         * allocation is needed.
         * \sa resize
         */
        void reserve(size_t r)
        {
                mSegments.reserve(r);
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Inserts a line, given its bounds. Works with any pair of objects with
         * access to x, y and z members.
         */
        template <class T, class U>
        inline void appendLine(T p0, U p1)
        {
                appendLine(p0.x, p0.y, p0.z, p1.x, p1.y, p1.z);
                CRenderizableDisplayList::notifyChange();
        }
        /** Returns the total count of lines in this set. */
        inline size_t getLineCount() const { return mSegments.size(); }
        /** Returns the total count of lines in this set. */
        inline size_t size() const { return mSegments.size(); }
        /** Returns true if there are no line segments. */
        inline bool empty() const { return mSegments.empty(); }
        /**
         * Sets a specific line in the set, given its index.
         * \sa appendLine
         */
        void setLineByIndex(size_t index, const mrpt::math::TSegment3D& segm);
        /**
         * Sets a specific line in the set, given its index.
         * \sa appendLine
         */
        inline void setLineByIndex(
                size_t index, double x0, double y0, double z0, double x1, double y1,
                double z1)
        {
                setLineByIndex(
                        index, mrpt::math::TSegment3D(
                                           mrpt::math::TPoint3D(x0, y0, z0),
                                           mrpt::math::TPoint3D(x1, y1, z1)));
                CRenderizableDisplayList::notifyChange();
        }
        /**
         * Gets a specific line in the set, given its index.
         * \sa getLineByIndex
         */
        void getLineByIndex(
                size_t index, double& x0, double& y0, double& z0, double& x1,
                double& y1, double& z1) const;
 
        /** Class factory */
        static CSetOfLines::Ptr Create(
                const std::vector<mrpt::math::TSegment3D>& sgms,
                const bool antiAliasing = true);
 
        /** Render */
        void render_dl() const override;
 
        // Iterator management
        using iterator = std::vector<mrpt::math::TSegment3D>::iterator;
        using reverse_iterator =
                std::vector<mrpt::math::TSegment3D>::reverse_iterator;
        using const_iterator = std::vector<mrpt::math::TSegment3D>::const_iterator;
        using const_reverse_iterator =
                std::vector<mrpt::math::TSegment3D>::const_reverse_iterator;
        /**
         * Beginning const iterator.
         * \sa end,rbegin,rend
         */
        inline const_iterator begin() const { return mSegments.begin(); }
        inline iterator begin()
        {
                CRenderizableDisplayList::notifyChange();
                return mSegments.begin();
        }
        /**
         * Ending const iterator.
         * \sa begin,rend,rbegin
         */
        inline const_iterator end() const { return mSegments.end(); }
        inline iterator end()
        {
                CRenderizableDisplayList::notifyChange();
                return mSegments.end();
        }
        /**
         * Beginning const reverse iterator (actually, accesses the end of the
         * set).
         * \sa rend,begin,end
         */
        inline const_reverse_iterator rbegin() const { return mSegments.rbegin(); }
        /**
         * Ending const reverse iterator (actually, refers to the starting point of
         * the set).
         * \sa rbegin,end,begin
         */
        inline const_reverse_iterator rend() const { return mSegments.rend(); }
        /** Evaluates the bounding box of this object (including possible children)
         * in the coordinate frame of the object parent. */
        void getBoundingBox(
                mrpt::math::TPoint3D& bb_min,
                mrpt::math::TPoint3D& bb_max) const override;
 
        void enableAntiAliasing(bool enable = true)
        {
                m_antiAliasing = enable;
                CRenderizableDisplayList::notifyChange();
        }
        bool isAntiAliasingEnabled() const { return m_antiAliasing; }
        /** Constructor */
        CSetOfLines();
        /** Constructor with a initial set of lines. */
        CSetOfLines(
                const std::vector<mrpt::math::TSegment3D>& sgms,
                bool antiAliasing = true);
        /** Private, virtual destructor: only can be deleted from smart pointers. */
        virtual ~CSetOfLines() {}
};
/** Inserts a set of segments into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfLines::appendLines
 */
template <class T>
inline CSetOfLines::Ptr& operator<<(CSetOfLines::Ptr& l, const T& s)
{
        l->appendLines(s.begin(), s.end());
        return l;
}
/** Inserts a segment into the list. Allows call chaining.
 * \sa mrpt::opengl::CSetOfLines::appendLine(const TSegment &)
 */
template <>
inline CSetOfLines::Ptr& operator<<(
        CSetOfLines::Ptr& l, const mrpt::math::TSegment3D& s)
{
        l->appendLine(s);
        return l;
}
}  // namespace opengl
}  // namespace mrpt