draw_scan_gp.H

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// Copyright (C) 2006 Christopher Mire
// Copyright (C) 2006 University of Louisiana at Lafayette
// Authors: Christopher Mire

#ifndef CAJUN_DRAW_SCAN_GP_H
#define CAJUN_DRAW_SCAN_GP_H

#include "data_queue.H"
#include "laser_data.H"
#include "component_interface.H"

#include "GL/glx.h"

#ifdef VR_JUGGLER
#include <vrj/Draw/OGL/GlContextData.h>
#endif

namespace cajun
{
        class draw_scan_gp_t : public laser_data_t, public component_interface_t
        {
        public:
                draw_scan_gp_t (double cbviz_origin[3], int scan_gp_id,
                                conf_t &conf, world_state_t *ws_);
                virtual ~draw_scan_gp_t ();
                void intra_update_data ();
                void update_data (double bot_pos_[3]);
                void dynamic_data ();
                void display (double bot_pos[3]);
                void toggle_display ();
                void flush_buffer ();
                void init_data ();
        private:
                void translate_pts (scan_gp_data_t &scan_gp_);
                struct point_t
                {
                        point_t () {;}
                        point_t (float pt_x_, float pt_y_, float pt_z_)
                                : x (pt_x_), y (pt_y_), z (pt_z_)
                                {}
                        point_t (double pt_x_, double pt_y_, double pt_z_)
                                : x (pt_x_), y (pt_y_), z (pt_z_)
                                {}
                        float x, y, z;
                        unsigned char r, g, b, a;
                };

                bool m_vbo_support;
                unsigned m_num_scans;
                point_t *m_vertex_data;

                double m_prev_scan_tstamp;

                size_t m_counter;
                size_t m_buffer_size;
                size_t m_prev_data_point;

#ifdef VR_JUGGLER
                vrj::GlContextData<GLuint> m_vbo_vert_name;
#else
                unsigned m_vbo_vert_name;
#endif
                scan_gp_data_t::coord_t start_beam, end_beam;

                PFNGLGENBUFFERSARBPROC glGenBuffersARB;
                PFNGLBINDBUFFERARBPROC glBindBufferARB;
                PFNGLBUFFERDATAARBPROC glBufferDataARB;
                PFNGLBUFFERSUBDATAARBPROC glBufferSubDataARB;
                PFNGLDELETEBUFFERSARBPROC glDeleteBuffersARB;
        };
}
#endif

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