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00030 #ifndef OGRE_TOOLS_OGRE_POINT_CLOUD_H
00031 #define OGRE_TOOLS_OGRE_POINT_CLOUD_H
00032
00033 #include <OGRE/OgreSimpleRenderable.h>
00034 #include <OGRE/OgreMovableObject.h>
00035 #include <OGRE/OgreString.h>
00036 #include <OGRE/OgreAxisAlignedBox.h>
00037 #include <OGRE/OgreVector3.h>
00038 #include <OGRE/OgreMaterial.h>
00039 #include <OGRE/OgreColourValue.h>
00040 #include <OGRE/OgreRoot.h>
00041 #include <OGRE/OgreHardwareBufferManager.h>
00042
00043 #include <stdint.h>
00044
00045 #include <vector>
00046
00047 #include <boost/shared_ptr.hpp>
00048
00049 namespace Ogre
00050 {
00051 class SceneManager;
00052 class ManualObject;
00053 class SceneNode;
00054 class RenderQueue;
00055 class Camera;
00056 class RenderSystem;
00057 class Matrix4;
00058 }
00059
00060 namespace rviz
00061 {
00062
00063 class PointCloud;
00064 class PointCloudRenderable : public Ogre::SimpleRenderable
00065 {
00066 public:
00067 PointCloudRenderable(PointCloud* parent, bool use_tex_coords);
00068 ~PointCloudRenderable();
00069
00070 Ogre::RenderOperation* getRenderOperation() { return &mRenderOp; }
00071 Ogre::HardwareVertexBufferSharedPtr getBuffer();
00072
00073 virtual Ogre::Real getBoundingRadius(void) const;
00074 virtual Ogre::Real getSquaredViewDepth(const Ogre::Camera* cam) const;
00075 virtual void _notifyCurrentCamera(Ogre::Camera* camera);
00076 virtual void getWorldTransforms(Ogre::Matrix4* xform) const;
00077 virtual const Ogre::LightList& getLights() const;
00078
00079 private:
00080 Ogre::MaterialPtr material_;
00081 PointCloud* parent_;
00082 };
00083 typedef boost::shared_ptr<PointCloudRenderable> PointCloudRenderablePtr;
00084 typedef std::vector<PointCloudRenderablePtr> V_PointCloudRenderable;
00085
00096 class PointCloud : public Ogre::MovableObject
00097 {
00098 public:
00099 enum RenderMode
00100 {
00101 RM_POINTS,
00102 RM_BILLBOARDS,
00103 RM_BILLBOARD_SPHERES,
00104 RM_BILLBOARDS_COMMON_FACING,
00105 RM_BOXES,
00106 };
00107
00108 PointCloud();
00109 ~PointCloud();
00110
00114 void clear();
00115
00120 struct Point
00121 {
00122 inline void setColor(float r, float g, float b)
00123 {
00124 Ogre::Root* root = Ogre::Root::getSingletonPtr();
00125 root->convertColourValue(Ogre::ColourValue(r, g, b), &color);
00126 }
00127
00128 float x;
00129 float y;
00130 float z;
00131 uint32_t color;
00132 };
00133
00140 void addPoints( Point* points, uint32_t num_points );
00141
00146 void popPoints( uint32_t num_points );
00147
00151 void setRenderMode(RenderMode mode);
00158 void setDimensions( float width, float height, float depth );
00159
00161 void setCommonDirection( const Ogre::Vector3& vec );
00163 void setCommonUpVector( const Ogre::Vector3& vec );
00164
00165 void setAlpha( float alpha );
00166
00167 void setPickColor(const Ogre::ColourValue& color);
00168 void setColorByIndex(bool set);
00169
00170 void setHighlightColor( float r, float g, float b );
00171
00172 virtual const Ogre::String& getMovableType() const { return sm_Type; }
00173 virtual const Ogre::AxisAlignedBox& getBoundingBox() const;
00174 virtual float getBoundingRadius() const;
00175 virtual void getWorldTransforms( Ogre::Matrix4* xform ) const;
00176 virtual void _updateRenderQueue( Ogre::RenderQueue* queue );
00177 virtual void _notifyCurrentCamera( Ogre::Camera* camera );
00178 virtual void _notifyAttached(Ogre::Node *parent, bool isTagPoint=false);
00179 #if (OGRE_VERSION_MAJOR >= 1 && OGRE_VERSION_MINOR >= 6)
00180 virtual void visitRenderables(Ogre::Renderable::Visitor* visitor, bool debugRenderables);
00181 #endif
00182
00183 private:
00184
00185 uint32_t getVerticesPerPoint();
00186 PointCloudRenderablePtr getOrCreateRenderable();
00187 void regenerateAll();
00188 void shrinkRenderables();
00189
00190 Ogre::AxisAlignedBox bounding_box_;
00191 float bounding_radius_;
00192
00193 typedef std::vector<Point> V_Point;
00194 V_Point points_;
00195 uint32_t point_count_;
00196
00197 RenderMode render_mode_;
00198 float width_;
00199 float height_;
00200 float depth_;
00201 Ogre::Vector3 common_direction_;
00202 Ogre::Vector3 common_up_vector_;
00203
00204 Ogre::MaterialPtr point_material_;
00205 Ogre::MaterialPtr billboard_material_;
00206 Ogre::MaterialPtr billboard_sphere_material_;
00207 Ogre::MaterialPtr billboard_common_facing_material_;
00208 Ogre::MaterialPtr box_material_;
00209 Ogre::MaterialPtr current_material_;
00210 float alpha_;
00211
00212 bool color_by_index_;
00213
00214 V_PointCloudRenderable renderables_;
00215
00216 bool current_mode_supports_geometry_shader_;
00217 Ogre::ColourValue pick_color_;
00218
00219 static Ogre::String sm_Type;
00220 };
00221
00222 }
00223
00224 #endif