Grid.cpp

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#include "lvr2/display/Grid.hpp"
 
namespace lvr2
{
 
Grid::Grid(floatArr vertices, uintArr boxes, uint numPoints, uint numBoxes)
    : m_vertices(vertices), m_boxes(boxes), m_numPoints(numPoints), m_numBoxes(numBoxes)
{
    m_lineWidth = 2.0;
    m_pointSize = 5.0;
 
    // Create display lists for points and grid
    m_pointDisplayList = glGenLists(1);
    m_gridDisplayList = glGenLists(1);
 
    // Render points
    glNewList(m_pointDisplayList, GL_COMPILE);
    glBegin(GL_POINTS);
    for(int i = 0; i < m_numPoints; i++)
    {
        int pos = i * 4;
        float x = m_vertices[pos];
        float y = m_vertices[pos + 1];
        float z = m_vertices[pos + 2];
        float d = m_vertices[pos + 3];
 
        if(d > 0)
        {
            glColor3f(0.54f, 0.17f, 0.89f);
        }
        else
        {
            glColor3f(1.0f, 0.64f, 0.0f);
        }
        glVertex3f(x, y, z);
 
    }
    glEnd();
    glEndList();
 
    // Render boxes
    glNewList(m_gridDisplayList, GL_COMPILE);
    glColor3f(125.0, 125.0, 125.0);
 
    // Coordinates for box corners
    float x[8];
    float y[8];
    float z[8];
 
    // Get box corner coordinates
    for(unsigned int i = 0; i < m_numBoxes; i++)
    {
        int box_pos = i * 8;
        for(int j = 0; j < 8; j++)
        {
            int vertex_pos = 4 * m_boxes[box_pos + j];
            x[j] = m_vertices[vertex_pos];
            y[j] = m_vertices[vertex_pos + 1];
            z[j] = m_vertices[vertex_pos + 2];
 
            m_boundingBox->expand(Vec(x[j], y[j], z[j]));
        }
 
        // Render quads
        glBegin(GL_LINE_LOOP);
        glVertex3f(x[0], y[0], z[0]);
        glVertex3f(x[1], y[1], z[1]);
        glVertex3f(x[2], y[2], z[2]);
        glVertex3f(x[3], y[3], z[3]);
        glEnd();
 
        glBegin(GL_LINE_LOOP);
        glVertex3f(x[4], y[4], z[4]);
        glVertex3f(x[5], y[5], z[5]);
        glVertex3f(x[6], y[6], z[6]);
        glVertex3f(x[7], y[7], z[7]);
        glEnd();
 
        glBegin(GL_LINES);
        glVertex3f(x[0], y[0], z[0]);
        glVertex3f(x[4], y[4], z[4]);
 
        glVertex3f(x[1], y[1], z[1]);
        glVertex3f(x[5], y[5], z[5]);
 
        glVertex3f(x[3], y[3], z[3]);
        glVertex3f(x[7], y[7], z[7]);
 
        glVertex3f(x[2], y[2], z[2]);
        glVertex3f(x[6], y[6], z[6]);
        glEnd();
    }
 
    glEndList();
 
}
 
void Grid::render()
{
        if(m_active)
        {
                glLineWidth(m_lineWidth);
                glCallList(m_gridDisplayList);
                glPointSize(m_pointSize);
                glCallList(m_pointDisplayList);
                glPointSize(1.0);
                glLineWidth(1.0);
        }
}
 
Grid::~Grid()
{
    // TODO Auto-generated destructor stub
}
 
} /* namespace lvr2 */