CVectorField3D.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/CVectorField3D.h>
#include <mrpt/serialization/CArchive.h>
#include "opengl_internals.h"
 
using namespace mrpt;
using namespace mrpt::opengl;
using namespace mrpt::math;
using namespace std;
 
IMPLEMENTS_SERIALIZABLE(CVectorField3D, CRenderizableDisplayList, mrpt::opengl)
 
/** Constructor */
CVectorField3D::CVectorField3D()
        : x_vf(0, 0),
          y_vf(0, 0),
          z_vf(0, 0),
          x_p(0, 0),
          y_p(0, 0),
          z_p(0, 0),
          m_LineWidth(1.0),
          m_pointSize(1.0),
          m_antiAliasing(true),
          m_colorFromModule(false),
          m_showPoints(true)
{
        m_point_color = m_color;
        m_field_color = m_color;
        m_still_color = m_color;
        m_maxspeed_color = m_color;
        m_maxspeed = 1.f;
}
 
/** Constructor with a initial set of lines. */
CVectorField3D::CVectorField3D(
        CMatrixFloat x_vf_ini, CMatrixFloat y_vf_ini, CMatrixFloat z_vf_ini,
        CMatrixFloat x_p_ini, CMatrixFloat y_p_ini, CMatrixFloat z_p_ini)
        : m_LineWidth(1.0),
          m_pointSize(1.0),
          m_antiAliasing(true),
          m_colorFromModule(false),
          m_showPoints(true)
{
        x_vf = x_vf_ini;
        y_vf = y_vf_ini;
        z_vf = z_vf_ini;
        x_p = x_p_ini;
        y_p = y_p_ini;
        z_p = z_p_ini;
        m_point_color = m_color;
        m_field_color = m_color;
        m_still_color = m_color;
        m_maxspeed_color = m_color;
        m_maxspeed = 1.f;
}
 
/*---------------------------------------------------------------
                                                        render
  ---------------------------------------------------------------*/
void CVectorField3D::render_dl() const
{
#if MRPT_HAS_OPENGL_GLUT
 
        // Enable antialiasing:
        glPushAttrib(GL_COLOR_BUFFER_BIT | GL_LINE_BIT);
        if (m_antiAliasing || m_color.A != 255)
        {
                glBlendFunc(GL_SRC_ALPHA, GL_ONE_MINUS_SRC_ALPHA);
                glEnable(GL_BLEND);
        }
        if (m_antiAliasing)
        {
                glEnable(GL_LINE_SMOOTH);
                glEnable(GL_POINT_SMOOTH);
        }
 
        glLineWidth(m_LineWidth);
        glPointSize(m_pointSize);
 
        checkOpenGLError();
 
        glDisable(GL_LIGHTING);  // Disable lights when drawing lines
 
        if (m_showPoints)
        {
                glBegin(GL_POINTS);
                glColor4ub(
                        m_point_color.R, m_point_color.G, m_point_color.B, m_point_color.A);
 
                for (unsigned int i = 0; i < x_p.cols(); i++)
                        for (unsigned int j = 0; j < x_p.rows(); j++)
                        {
                                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
                        }
 
                glEnd();
        }
 
        glBegin(GL_LINES);
        if (m_colorFromModule == false)
        {
                glColor4ub(
                        m_field_color.R, m_field_color.G, m_field_color.B, m_field_color.A);
                for (unsigned int i = 0; i < x_vf.cols(); i++)
                        for (unsigned int j = 0; j < x_vf.rows(); j++)
                        {
                                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
                                glVertex3f(
                                        x_p(j, i) + x_vf(j, i), y_p(j, i) + y_vf(j, i),
                                        z_p(j, i) + z_vf(j, i));
                        }
        }
        else
        {
                for (unsigned int i = 0; i < x_vf.cols(); i++)
                        for (unsigned int j = 0; j < x_vf.rows(); j++)
                        {
                                // Compute color
                                const float module = sqrt(
                                        square(x_vf(j, i)) + square(y_vf(j, i)) +
                                        square(z_vf(j, i)));
                                if (module > m_maxspeed)
                                        glColor4ub(
                                                m_maxspeed_color.R, m_maxspeed_color.G,
                                                m_maxspeed_color.B, m_maxspeed_color.A);
                                else
                                {
                                        const float R =
                                                (m_maxspeed - module) * m_still_color.R / m_maxspeed +
                                                module * m_maxspeed_color.R / m_maxspeed;
                                        const float G =
                                                (m_maxspeed - module) * m_still_color.G / m_maxspeed +
                                                module * m_maxspeed_color.G / m_maxspeed;
                                        const float B =
                                                (m_maxspeed - module) * m_still_color.B / m_maxspeed +
                                                module * m_maxspeed_color.B / m_maxspeed;
                                        const float A =
                                                (m_maxspeed - module) * m_still_color.A / m_maxspeed +
                                                module * m_maxspeed_color.A / m_maxspeed;
                                        glColor4ub(R, G, B, A);
                                }
 
                                glVertex3f(x_p(j, i), y_p(j, i), z_p(j, i));
                                glVertex3f(
                                        x_p(j, i) + x_vf(j, i), y_p(j, i) + y_vf(j, i),
                                        z_p(j, i) + z_vf(j, i));
                        }
        }
        glEnd();
 
        //******** Future ************
        //      glBegin(GL_TRIANGLES);
        //      glColor4ub( m_field_color.R, m_field_color.G, m_field_color.B,
        // m_field_color.A);
        //      for (unsigned int i=0; i<xcomp.cols(); i++)
        //              for (unsigned int j=0; j<xcomp.rows(); j++)
        //              {
        //                      const float tri_side = 0.25*sqrt(xcomp(j,i)*xcomp(j,i) +
        // ycomp(j,i)*ycomp(j,i));
        //                      const float ang = ::atan2(ycomp(j,i), xcomp(j,i)) - 1.5708;
        //                      glVertex3f( -sin(ang)*0.866*tri_side + xMin+i*x_cell_size +
        // xcomp(j,i), cos(ang)*0.866*tri_side + yMin+j*y_cell_size + ycomp(j,i),
        // 0);
        //                      glVertex3f( cos(ang)*0.5*tri_side + xMin+i*x_cell_size +
        // xcomp(j,i),
        // sin(ang)*0.5*tri_side + yMin+j*y_cell_size + ycomp(j,i), 0);
        //                      glVertex3f( -cos(ang)*0.5*tri_side + xMin+i*x_cell_size +
        // xcomp(j,i), -sin(ang)*0.5*tri_side + yMin+j*y_cell_size + ycomp(j,i), 0);
        //              }
        //      glEnd();
 
        checkOpenGLError();
        glEnable(GL_LIGHTING);  // Disable lights when drawing lines
 
        // End of antialiasing:
        glPopAttrib();
 
#endif
}
 
uint8_t CVectorField3D::serializeGetVersion() const { return 0; }
void CVectorField3D::serializeTo(mrpt::serialization::CArchive& out) const
{
        writeToStreamRender(out);
 
        out << x_vf << y_vf << z_vf;
        out << x_p << y_p << z_p;
        out << m_LineWidth;
        out << m_pointSize;
        out << m_antiAliasing;
        out << m_point_color;
        out << m_field_color;
}
void CVectorField3D::serializeFrom(
        mrpt::serialization::CArchive& in, uint8_t version)
{
        switch (version)
        {
                case 0:
                        readFromStreamRender(in);
 
                        in >> x_vf >> y_vf >> z_vf;
                        in >> x_p >> y_p >> z_p;
                        in >> m_LineWidth;
                        in >> m_pointSize;
                        in >> m_antiAliasing;
                        in >> m_point_color;
                        in >> m_field_color;
                        break;
 
                default:
                        MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(version)
                        break;
        };
        CRenderizableDisplayList::notifyChange();
}
 
void CVectorField3D::getBoundingBox(
        mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const
{
        bb_min.x = 10e10;
        bb_min.y = 10e10;
        bb_min.z = 10e10;
        bb_max.x = -10e10;
        bb_max.y = -10e10;
        bb_max.z = -10e10;
 
        for (unsigned int i = 0; i < x_p.cols(); i++)
                for (unsigned int j = 0; j < x_p.rows(); j++)
                {
                        // Minimum values
                        if (x_p(j, i) < bb_min.x) bb_min.x = x_p(j, i);
 
                        if (x_p(j, i) + x_vf(j, i) < bb_min.x)
                                bb_min.x = x_p(j, i) + x_vf(j, i);
 
                        if (y_p(j, i) < bb_min.y) bb_min.y = y_p(j, i);
 
                        if (y_p(j, i) + y_vf(j, i) < bb_min.y)
                                bb_min.y = y_p(j, i) + y_vf(j, i);
 
                        if (z_p(j, i) < bb_min.z) bb_min.z = z_p(j, i);
 
                        if (z_p(j, i) + z_vf(j, i) < bb_min.z)
                                bb_min.z = z_p(j, i) + z_vf(j, i);
 
                        // Maximum values
                        if (x_p(j, i) > bb_max.x) bb_max.x = x_p(j, i);
 
                        if (x_p(j, i) + x_vf(j, i) > bb_max.x)
                                bb_max.x = x_p(j, i) + x_vf(j, i);
 
                        if (y_p(j, i) > bb_max.y) bb_max.y = y_p(j, i);
 
                        if (y_p(j, i) + y_vf(j, i) > bb_max.y)
                                bb_max.y = y_p(j, i) + y_vf(j, i);
 
                        if (z_p(j, i) > bb_max.z) bb_max.z = z_p(j, i);
 
                        if (z_p(j, i) + z_vf(j, i) > bb_max.z)
                                bb_max.z = z_p(j, i) + z_vf(j, i);
                }
 
        // Convert to coordinates of my parent:
        m_pose.composePoint(bb_min, bb_min);
        m_pose.composePoint(bb_max, bb_max);
}