CSetOfTexturedTriangles.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/CTexturedObject.h>
 
namespace mrpt
{
namespace opengl
{
/** A set of textured triangles.
 *  This class can be used to draw any solid, arbitrarily complex object with
 * textures.
 *  \sa opengl::COpenGLScene
 * \ingroup mrpt_opengl_grp
 */
class CSetOfTexturedTriangles : public CTexturedObject
{
        DEFINE_SERIALIZABLE(CSetOfTexturedTriangles)
 
   public:
        /** Triangle vertex. This structure encapsulates the vertex coordinates and
         * the image pixels.
         */
        struct TVertex
        {
                /** Default constructor                  */
                TVertex();
                TVertex(float x, float y, float z, uint32_t u, uint32_t v);
                /** 3D vertex coordinates. */
                float m_x, m_y, m_z;
                /** 2D texture coordinates. Notice that the texture coordinates are 2D
                 * pixels!!! */
                uint32_t m_u, m_v;
                void writeToStream(mrpt::serialization::CArchive& out) const;
                void readFromStream(mrpt::serialization::CArchive& in);
        };
 
        /** Triangle. This structure encapsulates the triangle vertices.
         */
        struct TTriangle
        {
                /** Default constructor */
                TTriangle();
                TTriangle(TVertex v1, TVertex v2, TVertex v3);
                /** vertices */
                TVertex m_v1, m_v2, m_v3;
                void writeToStream(mrpt::serialization::CArchive& out) const;
                void readFromStream(mrpt::serialization::CArchive& in);
        };
 
        /** 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;
 
   protected:
        /** Triangle array. */
        std::vector<TTriangle> m_triangles;
 
        void render_texturedobj() const override;
 
   public:
        void clearTriangles()
        {
                m_triangles.clear();
                CRenderizableDisplayList::notifyChange();
        }
        size_t getTrianglesCount() const { return m_triangles.size(); }
        const TTriangle& getTriangle(size_t idx) const
        {
                ASSERT_(idx < m_triangles.size());
                return m_triangles[idx];
        }
        void getTriangle(size_t idx, TTriangle& t) const
        {
                ASSERT_(idx < m_triangles.size());
                t = m_triangles[idx];
                CRenderizableDisplayList::notifyChange();
        }
        void insertTriangle(const TTriangle& t)
        {
                m_triangles.push_back(t);
                CRenderizableDisplayList::notifyChange();
        }
 
        virtual bool traceRay(
                const mrpt::poses::CPose3D& o, double& dist) const override;
 
        /** Constructor
         */
        CSetOfTexturedTriangles() : m_triangles() {}
        /** Private, virtual destructor: only can be deleted from smart pointers */
        virtual ~CSetOfTexturedTriangles();
};
 
}  // namespace opengl
}  // namespace mrpt