CSphere.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/CSphere.h>
//#include <mrpt/poses/CPose3D.h>
#include <mrpt/serialization/CArchive.h>
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::poses;
 
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CSphere, CRenderizableDisplayList, mrpt::opengl)
 
CSphere::Ptr CSphere::Create(
        float radius, int nDivsLongitude, int nDivsLatitude)
{
        return CSphere::Ptr(new CSphere(radius, nDivsLongitude, nDivsLatitude));
}
/*---------------------------------------------------------------
                                                        render_dl
  ---------------------------------------------------------------*/
void CSphere::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
        if (m_color.A != 255)
        {
                glDisable(GL_DEPTH_TEST);
                glEnable(GL_BLEND);
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
        }
 
        // Determine radius depending on eye distance?
        float real_radius;
        if (m_keepRadiusIndependentEyeDistance)
        {
                glRasterPos3f(0.0f, 0.0f, 0.0f);
 
                GLfloat raster_pos[4];
                glGetFloatv(GL_CURRENT_RASTER_POSITION, raster_pos);
                float eye_distance = raster_pos[3];
 
                eye_distance = max(eye_distance, 0.1f);
 
                real_radius = 0.01 * m_radius * eye_distance;
        }
        else
                real_radius = m_radius;
 
        GLUquadricObj* obj = gluNewQuadric();
        checkOpenGLError();
 
        gluQuadricDrawStyle(obj, GLU_FILL);
        gluQuadricNormals(obj, GLU_SMOOTH);
 
        gluSphere(obj, real_radius, m_nDivsLongitude, m_nDivsLatitude);
        checkOpenGLError();
 
        gluDeleteQuadric(obj);
        checkOpenGLError();
 
        if (m_color.A != 255)
        {
                glEnable(GL_DEPTH_TEST);
                glDisable(GL_BLEND);
        }
 
#endif
}
 
uint8_t CSphere::serializeGetVersion() const { return 1; }
void CSphere::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
        out << m_radius;
        out << (uint32_t)m_nDivsLongitude << (uint32_t)m_nDivsLatitude
                << m_keepRadiusIndependentEyeDistance;
}
void CSphere::serializeFrom(mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                case 1:
                {
                        readFromStreamRender(in);
                        in >> m_radius;
                        uint32_t i, j;
                        in >> i >> j;
                        m_nDivsLongitude = i;
                        m_nDivsLatitude = j;
                        if (version >= 1)
                                in >> m_keepRadiusIndependentEyeDistance;
                        else
                                m_keepRadiusIndependentEyeDistance = false;
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool CSphere::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        // We need to find the points of the sphere which collide with the laser
        // beam.
        // The sphere's equation is invariant to rotations (but not to
        // translations), and we can take advantage of this;
        // we'll simply transform the center and then compute the beam's points
        // whose distance to that transformed point
        // equals the sphere's radius.
 
        CPose3D transf = this->m_pose - o;
        double x = transf.x(), y = transf.y(), z = transf.z();
        double r2 = m_radius * m_radius;
        double dyz = y * y + z * z;
        if (dyz > r2) return false;
        double dx = sqrt(r2 - dyz);
        if (x - dx >= 0)
        {
                dist = x - dx;
                return true;
        }
        else if (x + dx >= 0)
        {
                dist = x + dx;
                return true;
        }
        else
                return false;
}
 
void CSphere::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = -m_radius;
        bb_min.y = -m_radius;
        bb_min.z = -m_radius;
 
        bb_max.x = m_radius;
        bb_max.y = m_radius;
        bb_max.z = m_radius;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}