CSetOfTexturedTriangles.h

Go to the documentation of this file.

/* +---------------------------------------------------------------------------+
   |          The Mobile Robot Programming Toolkit (MRPT) C++ library          |
   |                                                                           |
   |                   http://mrpt.sourceforge.net/                            |
   |                                                                           |
   |   Copyright (C) 2005-2010  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 opengl
        {
                class MRPTDLLIMPEXP CSetOfTexturedTriangles;

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

                /** A set of textured triangles.
                  *  This class can be used to draw any solid, arbitrarily complex object with textures.
                  *  \sa opengl::COpenGLScene
                  */
                class MRPTDLLIMPEXP CSetOfTexturedTriangles : public CTexturedObject
                {
                        DEFINE_SERIALIZABLE( CSetOfTexturedTriangles )

                public:
                        /** Triangle vertex. This structure encapsulates the vertex coordinates and the image pixels.
                          */
                        struct MRPTDLLIMPEXP 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, unsigned int u, unsigned int 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!!!
                          */
                                unsigned int    m_u, m_v;
                        };

                        /** Triangle. This structure encapsulates the triangle vertices.
                          */
                        struct MRPTDLLIMPEXP 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;
                        };

                protected:
                        //mutable bool          m_init;

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

                public:
                        void clearTriangles( ) { m_triangles.clear(); }
                        size_t getTrianglesCount( ) const { return m_triangles.size(); }
                        void getTriangle( size_t idx, TTriangle &t ) const { ASSERT_(idx<m_triangles.size()); t = m_triangles[idx]; }
                        void insertTriangle( const TTriangle &t ) { m_triangles.push_back(t); }

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

                        /** 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