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mrpt::opengl::CMesh Class Reference

Detailed Description

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

A typical usage example would be an elevation map or a 3D model of a terrain.

See also
opengl::COpenGLScene
mrpt::opengl::CMesh
td

Definition at line 40 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:
Inheritance graph

Classes

struct  TTriangleVertexIndices
 

Public Member Functions

void setGridLimits (float xmin, float xmax, float ymin, float ymax)
 
void getGridLimits (float &xmin, float &xmax, float &ymin, float &ymax) const
 
void enableTransparency (bool v)
 
void enableWireFrame (bool v)
 
void enableColorFromZ (bool v, mrpt::utils::TColormap colorMap=mrpt::utils::cmJET)
 
void setZ (const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
 This method sets the matrix of heights for each position (cell) in the mesh grid.
 
void getZ (mrpt::math::CMatrixFloat &out) const
 Returns a reference to the internal Z matrix, allowing changing it efficiently.
 
void getMask (mrpt::math::CMatrixFloat &out) const
 Returns a reference to the internal mask matrix, allowing changing it efficiently.
 
void setMask (const mrpt::math::CMatrixTemplateNumeric< float > &in_mask)
 This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.
 
void setUV (const mrpt::math::CMatrixTemplateNumeric< float > &in_U, const mrpt::math::CMatrixTemplateNumeric< float > &in_V)
 Sets the (u,v) texture coordinates (in range [0,1]) for each cell.
 
float getXMin () const
 
float getXMax () const
 
float getYMin () const
 
float getYMax () const
 
void setXMin (const float &nxm)
 
void setXMax (const float &nxm)
 
void setYMin (const float &nym)
 
void setYMax (const float &nym)
 
void getXBounds (float &min, float &max) const
 
void getYBounds (float &min, float &max) const
 
void setXBounds (const float &min, const float &max)
 
void setYBounds (const float &min, const float &max)
 
void render_dl () const MRPT_OVERRIDE
 Render.
 
void getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE
 Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.
 
void assignImage (const mrpt::utils::CImage &img)
 Assigns a texture image, and disable transparency.
 
void assignImageAndZ (const mrpt::utils::CImage &img, const mrpt::math::CMatrixTemplateNumeric< float > &in_Z)
 Assigns a texture image and Z simultaneously, and disable transparency.
 
void adjustGridToImageAR ()
 Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const MRPT_OVERRIDE
 Trace ray.
 
CRenderizableDisplayListclone () const
 Interface for the stlplus smart pointer class.
 
void render () const MRPT_OVERRIDE
 Render the object, regenerating the display list if needed, otherwise just calling it.
 
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
CRenderizablesetColorR_u8 (const uint8_t r) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorG_u8 (const uint8_t g) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorB_u8 (const uint8_t b) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColorA_u8 (const uint8_t a) MRPT_OVERRIDE
 Color components in the range [0,255].
 
CRenderizablesetColor_u8 (const mrpt::utils::TColor &c) MRPT_OVERRIDE
 Changes the default object color.
 
Changes the appearance of the object to render
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1)
 
void setName (const std::string &n)
 Changes the name of the object.
 
const std::string & getName () const
 Returns the name of the object.
 
bool isVisible () const
 Is the object visible?
 
void setVisibility (bool visible=true)
 Set object visibility (default=true)
 
void enableShowName (bool showName=true)
 Enables or disables showing the name of the object as a label when rendering.
 
bool isShowNameEnabled () const
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
CRenderizablesetPose (const mrpt::poses::CPoint2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
 
mrpt::math::TPose3D getPose () const
 Returns the 3D pose of the object as TPose3D.
 
const mrpt::poses::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation.
 
CRenderizablesetLocation (const mrpt::math::TPoint3D &p)
 Changes the location of the object, keeping untouched the orientation.
 
double getPoseX () const
 Translation relative to parent coordinate origin.
 
double getPoseY () const
 Translation relative to parent coordinate origin.
 
double getPoseZ () const
 Translation relative to parent coordinate origin.
 
double getPoseYaw () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPosePitch () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPoseRoll () const
 Rotation relative to parent coordinate origin, in DEGREES.
 
double getPoseYawRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getPosePitchRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getPoseRollRad () const
 Rotation relative to parent coordinate origin, in radians.
 
double getColorR () const
 Color components in the range [0,1].
 
double getColorG () const
 Color components in the range [0,1].
 
double getColorB () const
 Color components in the range [0,1].
 
double getColorA () const
 Color components in the range [0,1].
 
uint8_t getColorR_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorG_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorB_u8 () const
 Color components in the range [0,255].
 
uint8_t getColorA_u8 () const
 Color components in the range [0,255].
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1].
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1].
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1].
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1].
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1)
 
CRenderizablesetScale (float sx, float sy, float sz)
 Scale to apply to the object in each axis (default=1)
 
float getScaleX () const
 Get the current scaling factor in one axis.
 
float getScaleY () const
 Get the current scaling factor in one axis.
 
float getScaleZ () const
 Get the current scaling factor in one axis.
 
mrpt::utils::TColorf getColor () const
 Returns the object color property as a TColorf.
 
CRenderizablesetColor (const mrpt::utils::TColorf &c)
 
CRenderizablesetColor (double R, double G, double B, double A=1)
 Set the color components of this object (R,G,B,Alpha, in the range 0-1)
 
const mrpt::utils::TColorgetColor_u8 () const
 Returns the object color property as a TColor.
 

Static Public Member Functions

static CMeshPtr Create (bool enableTransparency, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
 Class factory

 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within render() methods.
 
static void renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Render a text message in the current rendering context, creating a glViewport in the way (do not call within render() methods)
 
static int textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
 Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
 

Static Public Attributes

RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizableDisplayList
 
RTTI stuff <br>
static const mrpt::utils::TRuntimeClassId classCRenderizable
 

Protected Member Functions

void updateColorsMatrix () const
 Called internally to assure C is updated.
 
void updateTriangles () const
 Called internally to assure the triangle list is updated.
 
void updatePolygons () const
 
void writeToStreamRender (utils::CStream &out) const
 
CSerializable virtual methods
void writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE
 
void readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE
 
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated)
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
 
void readFromStreamRender (mrpt::utils::CStream &in)
 

Static Protected Member Functions

static void checkOpenGLError ()
 Checks glGetError and throws an exception if an error situation is found.
 
static unsigned int getNewTextureNumber ()
 Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
 
static void releaseTextureName (unsigned int i)
 

Protected Attributes

mrpt::utils::CImage m_textureImage
 
bool m_enableTransparency
 
bool m_colorFromZ
 
bool m_isWireFrame
 
bool m_isImage
 
math::CMatrix Z
 Z(x,y): Z-coordinate of the point (x,y)
 
math::CMatrix mask
 
math::CMatrix U
 
math::CMatrix V
 Texture coordinates.
 
math::CMatrix C
 Grayscale Color [0,1] for each cell, updated by updateColorsMatrix.
 
math::CMatrix C_r
 Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix.
 
math::CMatrix C_g
 Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix.
 
math::CMatrix C_b
 Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix.
 
mrpt::utils::TColormap m_colorMap
 Used when m_colorFromZ is true.
 
bool m_modified_Z
 Whether C is not up-to-date wrt to Z.
 
bool m_modified_Image
 Whether C is not up-to-date wrt to the texture image.
 
float xMin
 
float xMax
 
float yMin
 
float yMax
 Mesh bounds.
 
std::vector< std::pair< CSetOfTriangles::TTriangle, TTriangleVertexIndices > > actualMesh
 List of triangles in the mesh.
 
std::vector< std::pair< mrpt::math::TPoint3D, size_t > > vertex_normals
 The accumulated normals & counts for each vertex, so normals can be averaged.
 
bool trianglesUpToDate
 Whether the actual mesh needs to be recalculated.
 
bool polygonsUpToDate
 
std::vector< mrpt::math::TPolygonWithPlanetmpPolys
 
std::string m_name
 
bool m_show_name
 
mrpt::utils::TColor m_color
 Color components in the range [0,255].
 
mrpt::poses::CPose3D m_pose
 6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
 
float m_scale_x
 
float m_scale_y
 
float m_scale_z
 Scale components to apply to the object (default=1)
 
bool m_visible
 Is the object visible? (default=true)
 

Private Member Functions

 CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
 Constructor.
 
virtual ~CMesh ()
 Private, virtual destructor: only can be deleted from smart pointers.
 

Private Attributes

unsigned int m_dl
 Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).
 
bool m_dl_recreate
 If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).
 

RTTI stuff <br>

typedef CMeshPtr SmartPtr
 
static mrpt::utils::CLASSINIT _init_CMesh
 
static mrpt::utils::TRuntimeClassId classCMesh
 
static const mrpt::utils::TRuntimeClassIdclassinfo
 
static const mrpt::utils::TRuntimeClassId_GetBaseClass ()
 
virtual const mrpt::utils::TRuntimeClassIdGetRuntimeClass () const MRPT_OVERRIDE
 
virtual mrpt::utils::CObjectduplicate () const MRPT_OVERRIDE
 
static mrpt::utils::CObjectCreateObject ()
 
static CMeshPtr Create ()
 

Member Typedef Documentation

◆ SmartPtr

A typedef for the associated smart pointer

Definition at line 42 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

mrpt::opengl::CMesh::CMesh ( bool  enableTransparency = false,
float  xMin = 0.0f,
float  xMax = 0.0f,
float  yMin = 0.0f,
float  yMax = 0.0f 
)
inlineprivate

Constructor.

Definition at line 196 of file CMesh.h.

◆ ~CMesh()

virtual mrpt::opengl::CMesh::~CMesh ( )
inlineprivatevirtual

Private, virtual destructor: only can be deleted from smart pointers.

Definition at line 215 of file CMesh.h.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId * mrpt::opengl::CMesh::_GetBaseClass ( )
staticprotected

◆ adjustGridToImageAR()

void mrpt::opengl::CMesh::adjustGridToImageAR ( )
inline

Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.

Definition at line 179 of file CMesh.h.

References ASSERT_, mrpt::utils::CImage::getHeight(), mrpt::utils::CImage::getWidth(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ assignImage()

void mrpt::opengl::CMesh::assignImage ( const mrpt::utils::CImage img)

Assigns a texture image, and disable transparency.

◆ assignImageAndZ()

void mrpt::opengl::CMesh::assignImageAndZ ( const mrpt::utils::CImage img,
const mrpt::math::CMatrixTemplateNumeric< float > &  in_Z 
)

Assigns a texture image and Z simultaneously, and disable transparency.

◆ checkOpenGLError()

static void mrpt::opengl::CRenderizable::checkOpenGLError ( )
staticprotectedinherited

Checks glGetError and throws an exception if an error situation is found.

◆ clone()

CRenderizableDisplayList * mrpt::opengl::CRenderizableDisplayList::clone ( ) const
inlineinherited

Interface for the stlplus smart pointer class.

Definition at line 71 of file CRenderizableDisplayList.h.

◆ Create() [1/2]

static CMeshPtr mrpt::opengl::CMesh::Create ( )
static

◆ Create() [2/2]

static CMeshPtr mrpt::opengl::CMesh::Create ( bool  enableTransparency,
float  xMin = 0.0f,
float  xMax = 0.0f,
float  yMin = 0.0f,
float  yMax = 0.0f 
)
static

Class factory

◆ CreateObject()

static mrpt::utils::CObject * mrpt::opengl::CMesh::CreateObject ( )
static

◆ duplicate()

virtual mrpt::utils::CObject * mrpt::opengl::CMesh::duplicate ( ) const
virtual

◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ ( bool  v,
mrpt::utils::TColormap  colorMap = mrpt::utils::cmJET 
)
inline

Definition at line 93 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool  showName = true)
inlineinherited

Enables or disables showing the name of the object as a label when rendering.

Definition at line 69 of file CRenderizable.h.

◆ enableTransparency()

void mrpt::opengl::CMesh::enableTransparency ( bool  v)
inline

Definition at line 91 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ enableWireFrame()

void mrpt::opengl::CMesh::enableWireFrame ( bool  v)
inline

Definition at line 92 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ getBoundingBox()

void mrpt::opengl::CMesh::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implements mrpt::opengl::CRenderizable.

◆ getColor()

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 124 of file CRenderizable.h.

◆ getColor_u8()

const mrpt::utils::TColor & mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 133 of file CRenderizable.h.

◆ getColorA()

double mrpt::opengl::CRenderizable::getColorA ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 100 of file CRenderizable.h.

◆ getColorA_u8()

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 105 of file CRenderizable.h.

◆ getColorB()

double mrpt::opengl::CRenderizable::getColorB ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 99 of file CRenderizable.h.

◆ getColorB_u8()

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 104 of file CRenderizable.h.

◆ getColorG()

double mrpt::opengl::CRenderizable::getColorG ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 98 of file CRenderizable.h.

◆ getColorG_u8()

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 103 of file CRenderizable.h.

◆ getColorR()

double mrpt::opengl::CRenderizable::getColorR ( ) const
inlineinherited

Color components in the range [0,1].

Definition at line 97 of file CRenderizable.h.

◆ getColorR_u8()

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const
inlineinherited

Color components in the range [0,255].

Definition at line 102 of file CRenderizable.h.

◆ getGridLimits()

void mrpt::opengl::CMesh::getGridLimits ( float &  xmin,
float &  xmax,
float &  ymin,
float &  ymax 
) const
inline

Definition at line 85 of file CMesh.h.

◆ getMask()

void mrpt::opengl::CMesh::getMask ( mrpt::math::CMatrixFloat out) const
inline

Returns a reference to the internal mask matrix, allowing changing it efficiently.

Definition at line 109 of file CMesh.h.

◆ getName()

const std::string & mrpt::opengl::CRenderizable::getName ( ) const
inlineinherited

Returns the name of the object.

Definition at line 64 of file CRenderizable.h.

◆ getNewTextureNumber()

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).


◆ getPose()

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const
inherited

Returns the 3D pose of the object as TPose3D.

◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 91 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 94 of file CRenderizable.h.

◆ getPoseRef()

const mrpt::poses::CPose3D & mrpt::opengl::CRenderizable::getPoseRef ( ) const
inlineinherited

Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 79 of file CRenderizable.h.

◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 92 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseRollRad()

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 95 of file CRenderizable.h.

◆ getPoseX()

double mrpt::opengl::CRenderizable::getPoseX ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 87 of file CRenderizable.h.

◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 88 of file CRenderizable.h.

◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 90 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

◆ getPoseYawRad()

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const
inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 93 of file CRenderizable.h.

◆ getPoseZ()

double mrpt::opengl::CRenderizable::getPoseZ ( ) const
inlineinherited

Translation relative to parent coordinate origin.

Definition at line 89 of file CRenderizable.h.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId * mrpt::opengl::CMesh::GetRuntimeClass ( ) const
virtual

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 119 of file CRenderizable.h.

◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 120 of file CRenderizable.h.

◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const
inlineinherited

Get the current scaling factor in one axis.

Definition at line 121 of file CRenderizable.h.

◆ getXBounds()

void mrpt::opengl::CMesh::getXBounds ( float &  min,
float &  max 
) const
inline

Definition at line 139 of file CMesh.h.

◆ getXMax()

float mrpt::opengl::CMesh::getXMax ( ) const
inline

Definition at line 120 of file CMesh.h.

◆ getXMin()

float mrpt::opengl::CMesh::getXMin ( ) const
inline

Definition at line 119 of file CMesh.h.

◆ getYBounds()

void mrpt::opengl::CMesh::getYBounds ( float &  min,
float &  max 
) const
inline

Definition at line 143 of file CMesh.h.

◆ getYMax()

float mrpt::opengl::CMesh::getYMax ( ) const
inline

Definition at line 122 of file CMesh.h.

◆ getYMin()

float mrpt::opengl::CMesh::getYMin ( ) const
inline

Definition at line 121 of file CMesh.h.

◆ getZ()

void mrpt::opengl::CMesh::getZ ( mrpt::math::CMatrixFloat out) const
inline

Returns a reference to the internal Z matrix, allowing changing it efficiently.

Definition at line 104 of file CMesh.h.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 70 of file CRenderizable.h.

◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const
inlineinherited

Is the object visible?

See also
setVisibility

Definition at line 66 of file CRenderizable.h.

◆ notifyChange()

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 49 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), adjustGridToImageAR(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), enableColorFromZ(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::C3DSScene::enableExtraAmbientLight(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), enableTransparency(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CVectorField2D::setGridLimits(), setGridLimits(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CPolyhedron::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CPolyhedron::setWireframe(), mrpt::opengl::CBox::setWireframe(), setXBounds(), mrpt::opengl::CMeshFast::setXBounds(), setXMax(), mrpt::opengl::CMeshFast::setXMax(), setXMin(), mrpt::opengl::CMeshFast::setXMin(), setYBounds(), mrpt::opengl::CMeshFast::setYBounds(), setYMax(), mrpt::opengl::CMeshFast::setYMax(), setYMin(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), and mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::thisclass_readFromStream().

◆ readFromStream()

void mrpt::opengl::CMesh::readFromStream ( mrpt::utils::CStream in,
int  version 
)
protected

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream in)
inlineprotectedinherited

◆ releaseTextureName()

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

◆ render()

void mrpt::opengl::CRenderizableDisplayList::render ( ) const
virtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

◆ render_dl()

void mrpt::opengl::CMesh::render_dl ( ) const
virtual

◆ renderTextBitmap() [1/2]

static void mrpt::opengl::CRenderizable::renderTextBitmap ( const char *  str,
void *  fontStyle 
)
staticinherited

This method is safe for calling from within render() methods.

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ renderTextBitmap() [2/2]

static void mrpt::opengl::CRenderizable::renderTextBitmap ( int  screen_x,
int  screen_y,
const std::string &  str,
float  color_r = 1,
float  color_g = 1,
float  color_b = 1,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Render a text message in the current rendering context, creating a glViewport in the way (do not call within render() methods)

  • Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
  • The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
    See also
    renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

◆ setColor() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf c)
inlineinherited
Parameters
cChanges the default object color
Returns
a ref to this

Definition at line 125 of file CRenderizable.h.

References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.

◆ setColor() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor ( double  R,
double  G,
double  B,
double  A = 1 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 131 of file CRenderizable.h.

◆ setColor_u8() [1/2]

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor c)
inlinevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 86 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

◆ setColor_u8() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setColor_u8 ( uint8_t  R,
uint8_t  G,
uint8_t  B,
uint8_t  A = 255 
)
inlineinherited

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns
a ref to this

Definition at line 138 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

◆ setColorA()

CRenderizable & mrpt::opengl::CRenderizable::setColorA ( const double  a)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 110 of file CRenderizable.h.

◆ setColorA_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 85 of file CRenderizableDisplayList.h.

◆ setColorB()

CRenderizable & mrpt::opengl::CRenderizable::setColorB ( const double  b)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 109 of file CRenderizable.h.

◆ setColorB_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 84 of file CRenderizableDisplayList.h.

◆ setColorG()

CRenderizable & mrpt::opengl::CRenderizable::setColorG ( const double  g)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 108 of file CRenderizable.h.

◆ setColorG_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 83 of file CRenderizableDisplayList.h.

◆ setColorR()

CRenderizable & mrpt::opengl::CRenderizable::setColorR ( const double  r)
inlineinherited

Color components in the range [0,1].

Returns
a ref to this

Definition at line 107 of file CRenderizable.h.

◆ setColorR_u8()

CRenderizable & mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlinevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

◆ setGridLimits()

void mrpt::opengl::CMesh::setGridLimits ( float  xmin,
float  xmax,
float  ymin,
float  ymax 
)
inline

Definition at line 78 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setLocation() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D p)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 85 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

◆ setLocation() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setLocation ( double  x,
double  y,
double  z 
)
inlineinherited

Changes the location of the object, keeping untouched the orientation.

Returns
a ref to this

Definition at line 82 of file CRenderizable.h.

◆ setMask()

void mrpt::opengl::CMesh::setMask ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_mask)

This method sets the boolean mask of valid heights for each position (cell) in the mesh grid.

◆ setName()

void mrpt::opengl::CRenderizable::setName ( const std::string &  n)
inlineinherited

Changes the name of the object.

Definition at line 63 of file CRenderizable.h.

◆ setPose() [1/4]

CRenderizable & mrpt::opengl::CRenderizable::setPose ( const mrpt::math::TPose3D o)
inherited

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

◆ setPose() [2/4]

CRenderizable & mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint2D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setPose() [3/4]

CRenderizable & mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setPose() [4/4]

CRenderizable & mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPose3D o)
inherited

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

◆ setScale() [1/2]

CRenderizable & mrpt::opengl::CRenderizable::setScale ( float  s)
inlineinherited

Scale to apply to the object, in all three axes (default=1)

Returns
a ref to this

Definition at line 117 of file CRenderizable.h.

◆ setScale() [2/2]

CRenderizable & mrpt::opengl::CRenderizable::setScale ( float  sx,
float  sy,
float  sz 
)
inlineinherited

Scale to apply to the object in each axis (default=1)

Returns
a ref to this

Definition at line 118 of file CRenderizable.h.

◆ setUV()

void mrpt::opengl::CMesh::setUV ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_U,
const mrpt::math::CMatrixTemplateNumeric< float > &  in_V 
)

Sets the (u,v) texture coordinates (in range [0,1]) for each cell.

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool  visible = true)
inlineinherited

Set object visibility (default=true)

See also
isVisible

Definition at line 67 of file CRenderizable.h.

◆ setXBounds()

void mrpt::opengl::CMesh::setXBounds ( const float &  min,
const float &  max 
)
inline

Definition at line 147 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setXMax()

void mrpt::opengl::CMesh::setXMax ( const float &  nxm)
inline

Definition at line 127 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setXMin()

void mrpt::opengl::CMesh::setXMin ( const float &  nxm)
inline

Definition at line 123 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setYBounds()

void mrpt::opengl::CMesh::setYBounds ( const float &  min,
const float &  max 
)
inline

Definition at line 152 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setYMax()

void mrpt::opengl::CMesh::setYMax ( const float &  nym)
inline

Definition at line 135 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setYMin()

void mrpt::opengl::CMesh::setYMin ( const float &  nym)
inline

Definition at line 131 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

◆ setZ()

void mrpt::opengl::CMesh::setZ ( const mrpt::math::CMatrixTemplateNumeric< float > &  in_Z)

This method sets the matrix of heights for each position (cell) in the mesh grid.

◆ should_skip_display_list_cache()

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 56 of file CRenderizableDisplayList.h.

◆ textBitmapWidth()

static int mrpt::opengl::CRenderizable::textBitmapWidth ( const std::string &  str,
mrpt::opengl::TOpenGLFont  font = mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24 
)
staticinherited

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also
renderTextBitmap, mrpt::opengl::gl_utils

◆ traceRay()

bool mrpt::opengl::CMesh::traceRay ( const mrpt::poses::CPose3D o,
double &  dist 
) const
virtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

◆ updateColorsMatrix()

void mrpt::opengl::CMesh::updateColorsMatrix ( ) const
protected

Called internally to assure C is updated.

◆ updatePolygons()

void mrpt::opengl::CMesh::updatePolygons ( ) const
protected

◆ updateTriangles()

void mrpt::opengl::CMesh::updateTriangles ( ) const
protected

Called internally to assure the triangle list is updated.

◆ writeToStream()

void mrpt::opengl::CMesh::writeToStream ( mrpt::utils::CStream out,
int *  getVersion 
) const
protected

◆ writeToStreamRender()

void mrpt::opengl::CRenderizable::writeToStreamRender ( utils::CStream out) const
protectedinherited

Member Data Documentation

◆ _init_CMesh

mrpt::utils::CLASSINIT mrpt::opengl::CMesh::_init_CMesh
staticprotected

Definition at line 42 of file CMesh.h.

◆ actualMesh

std::vector<std::pair<CSetOfTriangles::TTriangle,TTriangleVertexIndices> > mrpt::opengl::CMesh::actualMesh
mutableprotected

List of triangles in the mesh.

Definition at line 71 of file CMesh.h.

◆ C

math::CMatrix mrpt::opengl::CMesh::C
mutableprotected

Grayscale Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 56 of file CMesh.h.

◆ C_b

math::CMatrix mrpt::opengl::CMesh::C_b
mutableprotected

Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 59 of file CMesh.h.

◆ C_g

math::CMatrix mrpt::opengl::CMesh::C_g
mutableprotected

Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 58 of file CMesh.h.

◆ C_r

math::CMatrix mrpt::opengl::CMesh::C_r
mutableprotected

Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix.

Definition at line 57 of file CMesh.h.

◆ classCMesh

mrpt::utils::TRuntimeClassId mrpt::opengl::CMesh::classCMesh
static

Definition at line 42 of file CMesh.h.

◆ classCRenderizable

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::classCRenderizable
staticinherited

Definition at line 46 of file CRenderizable.h.

◆ classCRenderizableDisplayList

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizableDisplayList::classCRenderizableDisplayList
staticinherited

Definition at line 38 of file CRenderizableDisplayList.h.

◆ classinfo

const mrpt::utils::TRuntimeClassId* mrpt::opengl::CMesh::classinfo
static

Definition at line 42 of file CMesh.h.

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ
protected

Definition at line 49 of file CMesh.h.

◆ m_colorMap

mrpt::utils::TColormap mrpt::opengl::CMesh::m_colorMap
protected

Used when m_colorFromZ is true.

Definition at line 61 of file CMesh.h.

◆ m_dl

unsigned int mrpt::opengl::CRenderizableDisplayList::m_dl
mutableprivateinherited

Display list ID, for derived classes that want to use it (it's automatically deleted and freed on destruction of this base class).

Definition at line 41 of file CRenderizableDisplayList.h.

◆ m_dl_recreate

bool mrpt::opengl::CRenderizableDisplayList::m_dl_recreate
mutableprivateinherited

If using display lists, this is true when the list must be updated (the object changes, it's the first rendering, etc...).

Definition at line 42 of file CRenderizableDisplayList.h.

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency
protected

Definition at line 48 of file CMesh.h.

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage
protected

Definition at line 51 of file CMesh.h.

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame
protected

Definition at line 50 of file CMesh.h.

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image
mutableprotected

Whether C is not up-to-date wrt to the texture image.

Definition at line 64 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z
mutableprotected

Whether C is not up-to-date wrt to Z.

Definition at line 63 of file CMesh.h.

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name
protectedinherited

Definition at line 52 of file CRenderizable.h.

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose
protectedinherited

6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

Definition at line 55 of file CRenderizable.h.

Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl().

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y
protectedinherited

Definition at line 56 of file CRenderizable.h.

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z
protectedinherited

Scale components to apply to the object (default=1)

Definition at line 56 of file CRenderizable.h.

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name
protectedinherited

Definition at line 53 of file CRenderizable.h.

◆ m_textureImage

mrpt::utils::CImage mrpt::opengl::CMesh::m_textureImage
protected

Definition at line 46 of file CMesh.h.

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible
protectedinherited

Is the object visible? (default=true)

Definition at line 57 of file CRenderizable.h.

◆ mask

math::CMatrix mrpt::opengl::CMesh::mask
protected

Definition at line 54 of file CMesh.h.

◆ polygonsUpToDate

bool mrpt::opengl::CMesh::polygonsUpToDate
mutableprotected

Definition at line 74 of file CMesh.h.

◆ tmpPolys

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CMesh::tmpPolys
mutableprotected

Definition at line 75 of file CMesh.h.

◆ trianglesUpToDate

bool mrpt::opengl::CMesh::trianglesUpToDate
mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 73 of file CMesh.h.

◆ U

math::CMatrix mrpt::opengl::CMesh::U
protected

Definition at line 55 of file CMesh.h.

◆ V

math::CMatrix mrpt::opengl::CMesh::V
protected

Texture coordinates.

Definition at line 55 of file CMesh.h.

◆ vertex_normals

std::vector<std::pair<mrpt::math::TPoint3D,size_t> > mrpt::opengl::CMesh::vertex_normals
mutableprotected

The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 72 of file CMesh.h.

◆ xMax

float mrpt::opengl::CMesh::xMax
protected

Definition at line 70 of file CMesh.h.

◆ xMin

float mrpt::opengl::CMesh::xMin
protected

Definition at line 70 of file CMesh.h.

◆ yMax

float mrpt::opengl::CMesh::yMax
protected

Mesh bounds.

Definition at line 70 of file CMesh.h.

◆ yMin

float mrpt::opengl::CMesh::yMin
protected

Definition at line 70 of file CMesh.h.

◆ Z

math::CMatrix mrpt::opengl::CMesh::Z
protected

Z(x,y): Z-coordinate of the point (x,y)

Definition at line 53 of file CMesh.h.




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