CTexturedPlane.h

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/* +---------------------------------------------------------------------------+
   |          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_CTexturedPlane_H
#define opengl_CTexturedPlane_H

#include <mrpt/opengl/CTexturedObject.h>

namespace mrpt
{
        namespace opengl
        {
                class MRPTDLLIMPEXP CTexturedPlane;

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

                /** A 2D plane in the XY plane with a texture image.
                  *  \sa opengl::COpenGLScene
                  */
                class MRPTDLLIMPEXP CTexturedPlane : public CTexturedObject
                {
                        DEFINE_SERIALIZABLE( CTexturedPlane )
                protected:
                        mutable float                           m_tex_x_min,m_tex_x_max;
                        mutable float                           m_tex_y_min,m_tex_y_max;

                        float                   m_xMin, m_xMax;
                        float                   m_yMin, m_yMax;

                        mutable bool polygonUpToDate;
                        mutable std::vector<mrpt::math::TPolygonWithPlane> tmpPoly;   //!< Used for ray-tracing
                        void updatePoly() const;
                        void unloadTexture();

                public:
                        /** Set the texture coordinates of the four corners (in the range 0-1). */
                        void setTextureCornerCoords( float tex_x_min, float tex_x_max, float tex_y_min, float tex_y_max)
                        {
                                m_tex_x_min=tex_x_min;
                                m_tex_x_max=tex_x_max;
                                m_tex_y_min=tex_y_min;
                                m_tex_y_max=tex_y_max;
                        }

                        /** Set the coordinates of the four corners that define the plane on the XY plane. */
                        void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)
                        {
                                m_xMin = xMin; m_xMax = xMax;
                                m_yMin = yMin; m_yMax = yMax;
                                polygonUpToDate=false;
                        }

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

                        /** Class factory  */
                        static CTexturedPlanePtr Create(
                                float                           x_min,
                                float                           x_max,
                                float                           y_min,
                                float                           y_max)
                        {
                                return CTexturedPlanePtr( new CTexturedPlane(x_min, x_max, y_min, y_max) );
                        }

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

                private:
                        /** Constructor
                          */
                        CTexturedPlane(
                                float                           x_min = -1,
                                float                           x_max = 1,
                                float                           y_min = -1,
                                float                           y_max = 1
                                );

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

        } // end namespace

} // End of namespace


#endif