VisualObject.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2020  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */

#pragma once

#include <mrpt/opengl/opengl_frwds.h>
#include <mrpt/poses/CPose3D.h>
#include <mvsim/basic_types.h>

#include <cstdint>
#include <memory>

namespace mvsim
{
class World;

class VisualObject
{
   public:
        VisualObject(World* parent) : m_world(parent) {}
        virtual ~VisualObject() {}
        virtual void guiUpdate(mrpt::opengl::COpenGLScene& scene);

        World* getWorldObject() { return m_world; }
        const World* getWorldObject() const { return m_world; }

        void getVisualModelBoundingBox(
                mrpt::math::TPoint3D& bbmin, mrpt::math::TPoint3D& bbmax) const
        {
                bbmin = viz_bbmin_;
                bbmax = viz_bbmax_;
        }
        void showBoundingBox(bool show);

   protected:
        bool parseVisual(const rapidxml::xml_node<char>* visual_node);

        World* m_world;

        std::shared_ptr<mrpt::opengl::CSetOfObjects> m_glCustomVisual;
        std::shared_ptr<mrpt::opengl::CSetOfObjects> m_glBoundingBox;
        int32_t m_glCustomVisualId = -1;

        virtual void internalGuiUpdate(
                mrpt::opengl::COpenGLScene& scene, bool childrenOnly = false) = 0;
        virtual mrpt::poses::CPose3D internalGuiGetVisualPose() { return {}; }

   private:
        mrpt::math::TPoint3D viz_bbmin_{-1.0, -1.0, .0}, viz_bbmax_{1.0, 1.0, 1.0};
};
}  // namespace mvsim