CSetOfTexturedTriangles.h

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/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                       http://www.mrpt.org/                                |
   |                                                                           |
   |   Copyright (C) 2005-2012  University of Malaga                           |
   |                                                                           |
   |    This software was written by the Machine Perception and Intelligent    |
   |      Robotics Lab, University of Malaga (Spain).                          |
   |    Contact: Jose-Luis Blanco  <jlblanco@ctima.uma.es>                     |
   |                                                                           |
   |  This file is part of the MRPT project.                                   |
   |                                                                           |
   |     MRPT is free software: you can redistribute it and/or modify          |
   |     it under the terms of the GNU General Public License as published by  |
   |     the Free Software Foundation, either version 3 of the License, or     |
   |     (at your option) any later version.                                   |
   |                                                                           |
   |   MRPT is distributed in the hope that it will be useful,                 |
   |     but WITHOUT ANY WARRANTY; without even the implied warranty of        |
   |     MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the         |
   |     GNU General Public License for more details.                          |
   |                                                                           |
   |     You should have received a copy of the GNU General Public License     |
   |     along with MRPT.  If not, see <http://www.gnu.org/licenses/>.         |
   |                                                                           |
   +---------------------------------------------------------------------------+ */
#ifndef opengl_CSetOfTexturedTriangles_H
#define opengl_CSetOfTexturedTriangles_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
        namespace utils { class CStream; }

        namespace opengl
        {
                using mrpt::utils::CStream;

                class OPENGL_IMPEXP CSetOfTexturedTriangles;

                // This must be added to any CSerializable derived class:
                DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE( CSetOfTexturedTriangles, CTexturedObject, OPENGL_IMPEXP )

                /** 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 OPENGL_IMPEXP CSetOfTexturedTriangles : public CTexturedObject
                {
                        DEFINE_SERIALIZABLE( CSetOfTexturedTriangles )

                public:
                        /** Triangle vertex. This structure encapsulates the vertex coordinates and the image pixels.
                          */
                        struct OPENGL_IMPEXP TVertex
                        {
                                /** Default constructor. */
                                TVertex( ) :
                                        m_x(0.0), m_y(0.0), m_z(0.0), m_u(0), m_v(0) { }
                                /** Constructor. */
                                TVertex(float x, float y, float z, uint32_t u, uint32_t v) :
                                        m_x(x), m_y(y), m_z(z), m_u(u), m_v(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(CStream &out) const { out << m_x << m_y << m_z  << m_u << m_v; }
                                void readFromStream(CStream &in) { in >> m_x >> m_y >> m_z >> m_u >> m_v; }
                        };

                        /** Triangle. This structure encapsulates the triangle vertices.
                          */
                        struct OPENGL_IMPEXP TTriangle
                        {
                        /** Default constructor.  */
                                TTriangle( ) :
                                        m_v1(), m_v2(), m_v3() { }
                        /** Constructor. */
                                TTriangle(TVertex v1, TVertex v2, TVertex v3) :
                                        m_v1(v1), m_v2(v2), m_v3(v3) { }
                        /** Vertices.  */
                                TVertex m_v1, m_v2, m_v3;

                                void writeToStream(CStream &out) const {  m_v1.writeToStream(out); m_v2.writeToStream(out); m_v3.writeToStream(out); }
                                void readFromStream(CStream &in) { m_v1.readFromStream(in); m_v2.readFromStream(in);  m_v3.readFromStream(in); }
                        };

                protected:
                        /** Triangle array. */
                        std::vector<TTriangle>  m_triangles;

                        /** Render */
                        void  render_texturedobj( ) const;

                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(); }


                        /** Ray Trace
                          */
                        virtual bool traceRay( const mrpt::poses::CPose3D &o,double &dist ) const;

                private:
                        /** Constructor
                          */
                        CSetOfTexturedTriangles( ) : m_triangles()
                        { }

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSetOfTexturedTriangles();
                };

        } // end namespace

} // End of namespace

#endif