00001 #include "PolarGridRenderer.h"
00002
00003 PolarGridRenderer::PolarGridRenderer(const std::vector< std::vector<double> > *grid, const std::vector<double> *phiEdges, const std::vector<double> *rhoEdges):
00004 m_grid(NULL),
00005 m_phiEdges(NULL),
00006 m_rhoEdges(NULL),
00007 m_GLUGrids(0),
00008 m_GLUSectors(0),
00009 m_position(0),
00010 m_maxValue(0),
00011 m_color(0.4f, 1.f, 0.5f, 1.0f)
00012 {
00013 if(grid && phiEdges && rhoEdges && grid->size() && grid->size() == phiEdges->size() - 1 && (*grid)[0].size() == rhoEdges->size() - 1){
00014 m_grid = grid;
00015 m_phiEdges = phiEdges;
00016 m_rhoEdges = rhoEdges;
00017 for(unsigned int i = 0; i < m_grid->size(); i ++){
00018 for(unsigned int j = 0; j < (*m_grid)[i].size(); j++){
00019 if((*grid)[i][j] > m_maxValue ) m_maxValue = (*grid)[i][j];
00020 }
00021 }
00022 }
00023
00024 if(m_grid){
00025 m_GLUGrids.resize(m_grid->size() * (*m_grid)[0].size());
00026 m_GLUSectors.resize(m_grid->size() * (*m_grid)[0].size());
00027 for(unsigned int i = 0; i < m_GLUGrids.size(); i++){
00028 m_GLUGrids[i] = gluNewQuadric();
00029 m_GLUSectors[i] = gluNewQuadric();
00030 }
00031 }
00032
00033 m_depth = 0.f;
00034 setSubdivision(6, 3);
00035 }
00036
00037 PolarGridRenderer::~PolarGridRenderer(){
00038 for(unsigned int i = 0; i < m_GLUGrids.size(); i++){
00039 gluDeleteQuadric(m_GLUGrids[i]);
00040 gluDeleteQuadric(m_GLUSectors[i]);
00041 }
00042 }
00043
00044 PolarGridRenderer::PolarGridRenderer(const PolarGridRenderer& _renderer):
00045 m_grid(_renderer.m_grid),
00046 m_phiEdges(_renderer.m_phiEdges),
00047 m_rhoEdges(_renderer.m_rhoEdges),
00048 m_GLUGrids(0),
00049 m_GLUSectors(0),
00050 m_maxValue(_renderer.m_maxValue),
00051 m_color(_renderer.m_color)
00052 {
00053 if(m_grid){
00054 m_GLUGrids.resize(m_grid->size() * (*m_grid)[0].size());
00055 m_GLUSectors.resize(m_grid->size() * (*m_grid)[0].size());
00056 for(unsigned int i = 0; i < m_GLUGrids.size(); i++){
00057 m_GLUGrids[i] = gluNewQuadric();
00058 m_GLUSectors[i] = gluNewQuadric();
00059 }
00060 }
00061 m_depth = _renderer.m_depth;
00062 _renderer.getSubdivision(m_subdivision[0], m_subdivision[1]);
00063 }
00064
00065 PolarGridRenderer& PolarGridRenderer::operator=(const PolarGridRenderer& _renderer){
00066 setGrid(_renderer.getGrid(), _renderer.getPhiEdges(), _renderer.getRhoEdges());
00067 m_color = _renderer.m_color;
00068 _renderer.getSubdivision(m_subdivision[0], m_subdivision[1]);
00069 m_depth = _renderer.m_depth;
00070 return *this;
00071 }
00072
00073 void PolarGridRenderer::setGrid(const std::vector< std::vector<double> > *grid, const std::vector<double> *phiEdges, const std::vector<double> *rhoEdges){
00074 if(grid && phiEdges && rhoEdges && grid->size() && grid->size() == phiEdges->size() - 1 && (*grid)[0].size() == rhoEdges->size() - 1){
00075 m_grid = grid;
00076 m_phiEdges = phiEdges;
00077 m_rhoEdges = rhoEdges;
00078 m_maxValue = 0.;
00079 for(unsigned int i = 0; i < m_grid->size(); i ++){
00080 for(unsigned int j = 0; j < (*m_grid)[i].size(); j++){
00081 if((*grid)[i][j] > m_maxValue ) m_maxValue = (*grid)[i][j];
00082 }
00083 }
00084 } else {
00085 m_grid = NULL;
00086 m_phiEdges = NULL;
00087 m_rhoEdges = NULL;
00088 return;
00089 }
00090
00091 if(m_grid->size() * (*m_grid)[0].size() == m_GLUGrids.size()) return;
00092
00093 unsigned int i = m_grid->size() * (*m_grid)[0].size();
00094 for(; i < m_GLUGrids.size(); i++){
00095 gluDeleteQuadric(m_GLUGrids[i]);
00096 gluDeleteQuadric(m_GLUSectors[i]);
00097 }
00098
00099 i = m_GLUGrids.size();
00100 m_GLUGrids.resize(m_grid->size() * (*m_grid)[0].size());
00101 m_GLUSectors.resize(m_grid->size() * (*m_grid)[0].size());
00102 for(; i < m_GLUGrids.size(); i++){
00103 m_GLUGrids[i] = gluNewQuadric();
00104 m_GLUSectors[i] = gluNewQuadric();
00105 }
00106
00107 }
00108
00109
00110 void PolarGridRenderer::render(){
00111 if(m_grid){
00112 glPushMatrix();
00113 glTranslatef(0.f, 0.f, m_depth);
00114 if(m_position){
00115 glTranslatef(m_position->x, m_position->y, 0.f);
00116 glRotatef(rad2deg(m_position->theta), 0.f, 0.f, 1.f);
00117 }
00118 double sweep = 2*M_PI/(m_phiEdges->size() - 1);
00119 for(unsigned int i = 0; i < m_grid->size(); i ++){
00120 for(unsigned int j = 0; j < (*m_grid)[i].size(); j++){
00121 glPushMatrix();
00122 m_color.lightness() = m_maxValue == 0.? 1. : 1. - 0.5*(*m_grid)[i][j]/m_maxValue;
00123 Color color(HSL2RGB(m_color));
00124 double inner = (*m_rhoEdges)[j];
00125 double outer = (*m_rhoEdges)[j+1];
00126 double start = -(*m_phiEdges)[i] + M_PI_2;
00127 glColor4f(color.red(), color.green(), color.blue(), color.alpha());
00128 gluQuadricDrawStyle(m_GLUSectors[i * (*m_grid)[i].size() + j], GLU_FILL);
00129 gluPartialDisk(m_GLUSectors[i * (*m_grid)[i].size() + j], inner, outer, m_subdivision[0], m_subdivision[1], rad2deg(start), rad2deg(-sweep));
00130 glColor4f(0.f, 0.f, 0.f, 1.f);
00131 gluQuadricDrawStyle(m_GLUGrids[i * (*m_grid)[i].size() + j], GLU_SILHOUETTE);
00132 gluPartialDisk(m_GLUGrids[i * (*m_grid)[i].size() + j], inner, outer, m_subdivision[0], m_subdivision[1], rad2deg(start), rad2deg(-sweep));
00133 glPopMatrix();
00134 }
00135 }
00136 glColor4f(0.f,0.f,0.f,1.f);
00137 glBegin(GL_LINES);
00138 glVertex3f(0.f, 0.f, 0.f);
00139 glVertex3f((*m_rhoEdges)[m_rhoEdges->size() - 1] + 0.1f, 0.f, 0.f);
00140 glEnd();
00141 glPopMatrix();
00142 }
00143 }
