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CSetOfObjects.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.                                   |
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   |     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.                                   |
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   |   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.                          |
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   |     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_CSetOfObjects_H
#define opengl_CSetOfObjects_H

#include <mrpt/opengl/CRenderizable.h>

namespace mrpt
{
        namespace opengl
        {
                class OPENGL_IMPEXP CSetOfObjects;

                /** A list of objects pointers, automatically managing memory free at destructor, and managing copies correctly.
                  */
                typedef std::deque<CRenderizablePtr> CListOpenGLObjects;

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

                /** A set of object, which are referenced to the coordinates framework established in this object.
                  *  It can be established a hierarchy of "CSetOfObjects", where the coordinates framework of each
                  *   one will be referenced to the parent's one.
                  *     The list of child objects is accessed directly as in the class "COpenGLScene"
                  *  \sa opengl::COpenGLScene
                  */
                class OPENGL_IMPEXP CSetOfObjects : public CRenderizable
                {
                        DEFINE_SERIALIZABLE( CSetOfObjects )

                protected:
                        /** The list of child objects.
                          *  Objects are automatically deleted when calling "clear" or in the destructor.
                          */
                        CListOpenGLObjects              m_objects;

                public:

                        typedef CListOpenGLObjects::const_iterator      const_iterator;
                        typedef CListOpenGLObjects::iterator            iterator;

                        inline const_iterator begin() const { return  m_objects.begin(); }
                        inline const_iterator end() const { return  m_objects.end(); }
                        inline iterator begin() { return  m_objects.begin(); }
                        inline iterator end() { return  m_objects.end(); }

                        /** Inserts a set of objects into the list.
                          */
                        template<class T> inline void insertCollection(const T &objs)   {
                                insert(objs.begin(),objs.end());
                        }
                        /** Insert a new object to the list.
                          */
                        //void insert( mrpt::opengl::CRenderizable* newObject );
                        void insert( const CRenderizablePtr &newObject );

                        /** Inserts a set of objects, bounded by iterators, into the list.
                          */
                        template<class T_it> inline void insert(const T_it &begin,const T_it &end)      {
                                for (T_it it=begin;it!=end;it++) insert(*it);
                        }

                        /** Render child objects.
                          */
                        void  render() const;

                        /** Clear the list of objects in the scene, deleting objects' memory.
                          */
                        void  clear();

                        /** Returns number of objects.  */
                        size_t size()  {  return m_objects.size(); }

                        /** Returns true if there are no objects.  */
                        inline bool empty() const { return m_objects.empty(); }

                        /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)
                          */
                        void  initializeAllTextures();

                        /** Returns the first object with a given name, or a NULL pointer if not found.
                          */
                        CRenderizablePtr getByName( const std::string &str );

                         /** Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.
                           *  Example:
                           * \code
                                        CSpherePtr obs = myscene.getByClass<CSphere>();
                           * \endcode
                           * By default (ith=0), the first observation is returned.
                           */
                         template <typename T>
                         typename T::SmartPtr getByClass( const size_t &ith = 0 ) const
                         {
                                MRPT_START;
                                size_t  foundCount = 0;
                                const mrpt::utils::TRuntimeClassId*     class_ID = T::classinfo;
                                for (CListOpenGLObjects::const_iterator it = m_objects.begin();it!=m_objects.end();++it)
                                        if (  (*it).present() && (*it)->GetRuntimeClass()->derivedFrom( class_ID ) )
                                                if (foundCount++ == ith)
                                                        return typename T::SmartPtr(*it);

                                // If not found directly, search recursively:
                                for (CListOpenGLObjects::const_iterator it=m_objects.begin();it!=m_objects.end();++it)
                                {
                                        if ( (*it).present() && (*it)->GetRuntimeClass() == CLASS_ID_NAMESPACE(CSetOfObjects,mrpt::opengl))
                                        {
                                                typename T::SmartPtr o = CSetOfObjectsPtr(*it)->getByClass<T>(ith);
                                                if (o) return o;
                                        }
                                }

                                return typename T::SmartPtr();  // Not found: return empty smart pointer
                                MRPT_END;
                         }


                        /** Removes the given object from the scene (it also deletes the object to free its memory).
                          */
                        void removeObject( const CRenderizablePtr &obj );

                        /** Retrieves a list of all objects in text form.
                          */
                        void dumpListOfObjects( utils::CStringList  &lst );

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

                        virtual void setColor(const mrpt::utils::TColorf &c);
                        virtual void setColor(double r,double g,double b,double a=1);
                        virtual void setColorR(const double r);
                        virtual void setColorG(const double g);
                        virtual void setColorB(const double b);
                        virtual void setColorA(const double a);

                        bool contains(const CRenderizablePtr &obj) const;


                private:
                        /** Default constructor
                          */
                        CSetOfObjects( );

                        /** Private, virtual destructor: only can be deleted from smart pointers */
                        virtual ~CSetOfObjects();
                };
                /** Inserts an object into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfObjects::insert
                  */
                inline CSetOfObjectsPtr &operator<<(CSetOfObjectsPtr &s,const CRenderizablePtr &r)      {
                        s->insert(r);
                        return s;
                }
                /** Inserts a set of objects into the list. Allows call chaining.
                  * \sa mrpt::opengl::CSetOfObjects::insert
                  */
                template<class T> inline CSetOfObjectsPtr &operator<<(CSetOfObjectsPtr &o,const std::vector<T> &v)      {
                        o->insertCollection(v);
                        return o;
                }


        } // end namespace

} // End of namespace


#endif

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