CTexturedPlane.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/CTexturedPlane.h>
#include <mrpt/serialization/CArchive.h>
#include <mrpt/opengl/CSetOfTriangles.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(CTexturedPlane, CTexturedObject, mrpt::opengl)
 
CTexturedPlane::Ptr CTexturedPlane::Create(
        float x_min, float x_max, float y_min, float y_max)
{
        return CTexturedPlane::Ptr(new CTexturedPlane(x_min, x_max, y_min, y_max));
}
/*---------------------------------------------------------------
                                                        CTexturedPlane
  ---------------------------------------------------------------*/
CTexturedPlane::CTexturedPlane(
        float x_min, float x_max, float y_min, float y_max)
        : polygonUpToDate(false)
{
        // Copy data:
        m_xMin = x_min;
        m_xMax = x_max;
        m_yMin = y_min;
        m_yMax = y_max;
}
 
/*---------------------------------------------------------------
                                                        ~CTexturedPlane
  ---------------------------------------------------------------*/
CTexturedPlane::~CTexturedPlane() {}
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CTexturedPlane::render_texturedobj() const
{
#if MRPT_HAS_OPENGL_GLUT
        MRPT_START
 
        // Compute the exact texture coordinates:
        m_tex_x_min = 0;
        m_tex_x_max = 1.0f - ((float)m_pad_x_right) / r_width;
        m_tex_y_min = 0;
        m_tex_y_max = 1.0f - ((float)m_pad_y_bottom) / r_height;
 
        glDisable(GL_CULL_FACE);
        glBegin(GL_QUADS);
 
        glTexCoord2d(m_tex_x_min, m_tex_y_min);
        glVertex3f(m_xMin, m_yMin, 0);
 
        glTexCoord2d(m_tex_x_max, m_tex_y_min);
        glVertex3f(m_xMax, m_yMin, 0);
 
        glTexCoord2d(m_tex_x_max, m_tex_y_max);
        glVertex3f(m_xMax, m_yMax, 0);
 
        glTexCoord2d(m_tex_x_min, m_tex_y_max);
        glVertex3f(m_xMin, m_yMax, 0);
 
        glEnd();
        checkOpenGLError();
 
        MRPT_END
#endif
}
 
uint8_t CTexturedPlane::serializeGetVersion() const { return 2; }
void CTexturedPlane::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
 
        out << m_xMin << m_xMax;
        out << m_yMin << m_yMax;
 
        writeToStreamTexturedObject(out);
}
 
void CTexturedPlane::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                {
                        readFromStreamRender(in);
                        in >> m_textureImage >> m_textureImageAlpha;
                        in >> m_xMin >> m_xMax;
                        in >> m_yMin >> m_yMax;
 
                        assignImage(m_textureImage, m_textureImageAlpha);
                }
                break;
                case 1:
                case 2:
                {
                        readFromStreamRender(in);
 
                        in >> m_xMin >> m_xMax;
                        in >> m_yMin >> m_yMax;
 
                        if (version >= 2)
                        {
                                readFromStreamTexturedObject(in);
                        }
                        else
                        {  // Old version.
                                in >> CTexturedObject::m_enableTransparency;
                                in >> CTexturedObject::m_textureImage;
                                if (CTexturedObject::m_enableTransparency)
                                {
                                        in >> CTexturedObject::m_textureImageAlpha;
                                        assignImage(
                                                CTexturedObject::m_textureImage,
                                                CTexturedObject::m_textureImageAlpha);
                                }
                                else
                                        assignImage(CTexturedObject::m_textureImage);
                        }
                }
                break;
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
        };
        CRenderizableDisplayList::notifyChange();
}
 
bool CTexturedPlane::traceRay(const mrpt::poses::CPose3D& o, double& dist) const
{
        if (!polygonUpToDate) updatePoly();
        return math::traceRay(tmpPoly, (o - this->m_pose).asTPose(), dist);
}
 
void CTexturedPlane::updatePoly() const
{
        TPolygon3D poly(4);
        poly[0].x = poly[1].x = m_xMin;
        poly[2].x = poly[3].x = m_xMax;
        poly[0].y = poly[3].y = m_yMin;
        poly[1].y = poly[2].y = m_yMax;
        for (size_t i = 0; i < 4; i++) poly[i].z = 0;
        tmpPoly.resize(1);
        tmpPoly[0] = poly;
        polygonUpToDate = true;
}
 
void CTexturedPlane::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = std::min(m_xMin, m_xMax);
        bb_min.y = std::min(m_yMin, m_yMax);
        bb_min.z = 0;
 
        bb_max.x = std::max(m_xMin, m_xMax);
        bb_max.y = std::max(m_yMin, m_yMax);
        bb_max.z = 0;
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}