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

Definition at line 36 of file CMesh.h.

#include <mrpt/opengl/CMesh.h>

Inheritance diagram for mrpt::opengl::CMesh:

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::img::TColormap colorMap=mrpt::img::cmHOT)

void	setZ (const mrpt::math::CMatrixDynamic< float > &in_Z)
	This method sets the matrix of heights for each position (cell) in the mesh grid. More...

void	getZ (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal Z matrix, allowing changing it efficiently. More...

void	getMask (mrpt::math::CMatrixFloat &out) const
	Returns a reference to the internal mask matrix, allowing changing it efficiently. More...

void	setMask (const mrpt::math::CMatrixDynamic< float > &in_mask)
	This method sets the boolean mask of valid heights for each position (cell) in the mesh grid. More...

void	setUV (const mrpt::math::CMatrixDynamic< float > &in_U, const mrpt::math::CMatrixDynamic< float > &in_V)
	Sets the (u,v) texture coordinates (in range [0,1]) for each cell. More...

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 override
	Render. More...

void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const override
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. More...

void	assignImage (const mrpt::img::CImage &img)
	Assigns a texture image, and disable transparency. More...

void	assignImageAndZ (const mrpt::img::CImage &img, const mrpt::math::CMatrixDynamic< float > &in_Z)
	Assigns a texture image and Z simultaneously, and disable transparency. More...

void	adjustGridToImageAR ()
	Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction. More...

bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
	Trace ray. More...

	CMesh (bool enableTransparency=false, float xMin=0.0f, float xMax=0.0f, float yMin=0.0f, float yMax=0.0f)
	Constructor. More...

	~CMesh () override
	Private, virtual destructor: only can be deleted from smart pointers. More...

void	render () const override
	Render the object, regenerating the display list if needed, otherwise just calling it. More...

virtual mxArray *	writeToMatlab () const
	Introduces a pure virtual method responsible for writing to a `mxArray` Matlab object, typically a MATLAB `struct` whose contents are documented in each derived class. More...

Changes the appearance of the object to render (methods from
CRenderizable that need to be redefined)
CRenderizable &	setColorR_u8 (const uint8_t r) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorG_u8 (const uint8_t g) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorB_u8 (const uint8_t b) override
	Color components in the range [0,255]. More...

CRenderizable &	setColorA_u8 (const uint8_t a) override
	Color components in the range [0,255]. More...

CRenderizable &	setColor_u8 (const mrpt::img::TColor &c) override
	Changes the default object color. More...

CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Color components in the range [0,255]. More...

Changes the appearance of the object to render
void	setName (const std::string &n)
	Changes the name of the object. More...

const std::string &	getName () const
	Returns the name of the object. More...

bool	isVisible () const
	Is the object visible? More...

void	setVisibility (bool visible=true)
	Set object visibility (default=true) More...

void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering. More...

bool	isShowNameEnabled () const

CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPose2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::math::TPose2D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...

mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D. More...

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

CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation. More...

CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation. More...

double	getPoseX () const
	Translation relative to parent coordinate origin. More...

double	getPoseY () const
	Translation relative to parent coordinate origin. More...

double	getPoseZ () const
	Translation relative to parent coordinate origin. More...

double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES. More...

double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians. More...

double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians. More...

double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians. More...

double	getColorR () const
	Color components in the range [0,1]. More...

double	getColorG () const
	Color components in the range [0,1]. More...

double	getColorB () const
	Color components in the range [0,1]. More...

double	getColorA () const
	Color components in the range [0,1]. More...

uint8_t	getColorR_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorG_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorB_u8 () const
	Color components in the range [0,255]. More...

uint8_t	getColorA_u8 () const
	Color components in the range [0,255]. More...

CRenderizable &	setColorR (const double r)
	Color components in the range [0,1]. More...

CRenderizable &	setColorG (const double g)
	Color components in the range [0,1]. More...

CRenderizable &	setColorB (const double b)
	Color components in the range [0,1]. More...

CRenderizable &	setColorA (const double a)
	Color components in the range [0,1]. More...

CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1) More...

CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1) More...

float	getScaleX () const
	Get the current scaling factor in one axis. More...

float	getScaleY () const
	Get the current scaling factor in one axis. More...

float	getScaleZ () const
	Get the current scaling factor in one axis. More...

mrpt::img::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::img::TColorf &c)
	Changes the default object color. More...

CRenderizable &	setColor (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) More...

const mrpt::img::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr	duplicateGetSmartPtr () const
	Makes a deep copy of the object and returns a smart pointer to it. More...

Static Public Member Functions
static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from within ::render() methods. More...

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) More...

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(). More...

Protected Member Functions
void	updateColorsMatrix () const
	Called internally to assure C is updated. More...

void	updateTriangles () const
	Called internally to assure the triangle list is updated. More...

void	updatePolygons () const

void	writeToStreamRender (mrpt::serialization::CArchive &out) const

CSerializable virtual methods
uint8_t	serializeGetVersion () const override
	Must return the current versioning number of the object. More...

void	serializeTo (mrpt::serialization::CArchive &out) const override
	Pure virtual method for writing (serializing) to an abstract archive. More...

void	serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
	Pure virtual method for reading (deserializing) from an abstract archive. More...

Methods accesible or implemented by derived classes
void	notifyChange () const
	Must be called to notify that the object has changed (so, the display list must be updated) More...

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. More...

void	readFromStreamRender (mrpt::serialization::CArchive &in)

CSerializable virtual methods
virtual void	serializeTo (CSchemeArchiveBase &out) const
	Virtual method for writing (serializing) to an abstract schema based archive. More...

virtual void	serializeFrom (CSchemeArchiveBase &in)
	Virtual method for reading (deserializing) from an abstract schema based archive. More...

Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found. More...

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). More...

static void	releaseTextureName (unsigned int i)

Protected Attributes
mrpt::img::CImage	m_textureImage

bool	m_enableTransparency

bool	m_colorFromZ {false}

bool	m_isWireFrame {false}

bool	m_isImage {false}

math::CMatrixF	Z
	Z(x,y): Z-coordinate of the point (x,y) More...

math::CMatrixF	mask

math::CMatrixF	U
	Texture coordinates. More...

math::CMatrixF	V

math::CMatrixF	C
	Grayscale Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_r
	Red Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_g
	Green Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

math::CMatrixF	C_b
	Blue Component of the Color [0,1] for each cell, updated by updateColorsMatrix. More...

mrpt::img::TColormap	m_colorMap {mrpt::img::cmHOT}
	Used when m_colorFromZ is true. More...

bool	m_modified_Z {true}
	Whether C is not up-to-date wrt to Z. More...

bool	m_modified_Image {false}
	Whether C is not up-to-date wrt to the texture image. More...

float	xMin
	Mesh bounds. More...

float	xMax

float	yMin

float	yMax

std::vector< std::pair< CSetOfTriangles::TTriangle, TTriangleVertexIndices > >	actualMesh
	List of triangles in the mesh. More...

std::vector< std::pair< mrpt::math::TPoint3D, size_t > >	vertex_normals
	The accumulated normals & counts for each vertex, so normals can be averaged. More...

bool	trianglesUpToDate {false}
	Whether the actual mesh needs to be recalculated. More...

bool	polygonsUpToDate {false}
	Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated. More...

std::vector< mrpt::math::TPolygonWithPlane >	tmpPolys

std::string	m_name

bool	m_show_name {false}

mrpt::img::TColor	m_color
	Color components in the range [0,255]. More...

mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. More...

float	m_scale_x {1}
	Scale components to apply to the object (default=1) More...

float	m_scale_y {1}

float	m_scale_z {1}

bool	m_visible {true}
	Is the object visible? (default=true) More...

RTTI stuff
using	Ptr = std::shared_ptr< CMesh >

using	ConstPtr = std::shared_ptr< const CMesh >

using	UniquePtr = std::unique_ptr< CMesh >

using	ConstUniquePtr = std::unique_ptr< const CMesh >

static mrpt::rtti::CLASSINIT	_init_CMesh

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CMesh"

static const mrpt::rtti::TRuntimeClassId *	_GetBaseClass ()

static constexpr auto	getClassName ()

static const mrpt::rtti::TRuntimeClassId &	GetRuntimeClassIdStatic ()

static std::shared_ptr< CObject >	CreateObject ()

template<typename... Args>
static Ptr	Create (Args &&... args)

template<typename Alloc , typename... Args>
static Ptr	CreateAlloc (const Alloc &alloc, Args &&... args)

template<typename... Args>
static UniquePtr	CreateUnique (Args &&... args)

virtual const mrpt::rtti::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

virtual mrpt::rtti::CObject *	clone () const override
	Returns a deep copy (clone) of the object, indepently of its class. More...

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CMesh::ConstPtr = std::shared_ptr<const CMesh >

Definition at line 38 of file CMesh.h.

◆ ConstUniquePtr

using mrpt::opengl::CMesh::ConstUniquePtr = std::unique_ptr<const CMesh >

Definition at line 38 of file CMesh.h.

◆ Ptr

using mrpt::opengl::CMesh::Ptr = std::shared_ptr< CMesh >

A type for the associated smart pointer

Definition at line 38 of file CMesh.h.

◆ UniquePtr

using mrpt::opengl::CMesh::UniquePtr = std::unique_ptr< CMesh >

Definition at line 38 of file CMesh.h.

Constructor & Destructor Documentation

◆ CMesh()

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

Constructor.

Definition at line 30 of file CMesh.cpp.

◆ ~CMesh()

CMesh::~CMesh ( )

overridedefault

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

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::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 232 of file CMesh.h.

References ASSERT_, mrpt::img::CImage::getHeight(), mrpt::img::CImage::getWidth(), m_isImage, m_textureImage, mrpt::opengl::CRenderizableDisplayList::notifyChange(), xMax, xMin, yMax, and yMin.

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◆ assignImage()

void CMesh::assignImage ( const mrpt::img::CImage & img )

Assigns a texture image, and disable transparency.

Definition at line 341 of file CMesh.cpp.

References MRPT_END, MRPT_START, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ assignImageAndZ()

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

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

Definition at line 362 of file CMesh.cpp.

References ASSERT_, mrpt::math::CMatrixDynamic< T >::cols(), MRPT_END, MRPT_START, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::math::CMatrixDynamic< T >::rows().

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◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotectedinherited

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

Definition at line 295 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::checkOpenGLError().

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and mrpt::opengl::CPolyhedron::render_dl().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CMesh::clone ( ) const

overridevirtual

Returns a deep copy (clone) of the object, indepently of its class.

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>

static Ptr mrpt::opengl::CMesh::Create ( Args &&... args )

inlinestatic

Definition at line 38 of file CMesh.h.

◆ CreateAlloc()

template<typename Alloc , typename... Args>

static Ptr mrpt::opengl::CMesh::CreateAlloc	(	const Alloc &	alloc,
		Args &&...	args
	)

inlinestatic

Definition at line 38 of file CMesh.h.

◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CMesh::CreateObject ( )

static

◆ CreateUnique()

template<typename... Args>

static UniquePtr mrpt::opengl::CMesh::CreateUnique ( Args &&... args )

inlinestatic

Definition at line 38 of file CMesh.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const

inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 200 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ enableColorFromZ()

void mrpt::opengl::CMesh::enableColorFromZ	(	bool	v,
		mrpt::img::TColormap	colorMap = `mrpt::img::cmHOT`
	)

inline

Definition at line 129 of file CMesh.h.

References m_colorFromZ, m_colorMap, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ 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 82 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

◆ enableTransparency()

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

inline

Definition at line 119 of file CMesh.h.

References m_enableTransparency, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ enableWireFrame()

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

inline

Definition at line 124 of file CMesh.h.

References m_isWireFrame, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ getBoundingBox()

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

overridevirtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 576 of file CMesh.cpp.

References bb_max, and bb_min.

◆ getClassName()

static constexpr auto mrpt::opengl::CMesh::getClassName ( )

inlinestatic

Definition at line 38 of file CMesh.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inlineinherited

Returns the object color property as a TColorf.

Definition at line 231 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inlineinherited

Returns the object color property as a TColor.

Definition at line 250 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

◆ getColorA()

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

inlineinherited

Color components in the range [0,1].

Definition at line 154 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorA_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

◆ getColorB()

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

inlineinherited

Color components in the range [0,1].

Definition at line 152 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorB_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

◆ getColorG()

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

inlineinherited

Color components in the range [0,1].

Definition at line 150 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorG_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 158 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

◆ getColorR()

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

inlineinherited

Color components in the range [0,1].

Definition at line 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorR_u8()

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

inlineinherited

Color components in the range [0,255].

Definition at line 156 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

◆ getGridLimits()

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

inline

Definition at line 111 of file CMesh.h.

References xMax, xMin, yMax, and yMin.

◆ 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 146 of file CMesh.h.

References mask.

◆ getName()

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

inlineinherited

Returns the name of the object.

Definition at line 67 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getNewTextureNumber()

unsigned int 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).

Returns the lowest, free texture name.

Definition at line 65 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

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◆ getPose()

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

inherited

Returns the 3D pose of the object as TPose3D.

Definition at line 337 of file CRenderizable.cpp.

References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getPosePitch()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().

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◆ getPosePitchRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 144 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().

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◆ 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 108 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getPoseRoll()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 140 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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◆ getPoseRollRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 146 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().

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◆ getPoseX()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 130 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x().

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◆ getPoseY()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 132 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ getPoseYaw()

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

inlineinherited

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 136 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

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

inlineinherited

Rotation relative to parent coordinate origin, in radians.

Definition at line 142 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().

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◆ getPoseZ()

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

inlineinherited

Translation relative to parent coordinate origin.

Definition at line 134 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

◆ GetRuntimeClass()

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

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CMesh::GetRuntimeClassIdStatic ( )

static

◆ getScaleX()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleY()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_y.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleZ()

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

inlineinherited

Get the current scaling factor in one axis.

Definition at line 229 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_z.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getXBounds()

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

inline

Definition at line 184 of file CMesh.h.

References min, xMax, and xMin.

◆ getXMax()

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

inline

Definition at line 157 of file CMesh.h.

References xMax.

◆ getXMin()

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

inline

Definition at line 156 of file CMesh.h.

References xMin.

◆ getYBounds()

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

inline

Definition at line 189 of file CMesh.h.

References min, yMax, and yMin.

◆ getYMax()

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

inline

Definition at line 159 of file CMesh.h.

References yMax.

◆ getYMin()

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

inline

Definition at line 158 of file CMesh.h.

References yMin.

◆ 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 143 of file CMesh.h.

References Z.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inlineinherited

See also: enableShowName

Definition at line 84 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ isVisible()

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

inlineinherited

Is the object visible?

See also: setVisibility

Definition at line 68 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ notifyChange()

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 54 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::m_dl_recreate.

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::serialization::CArchive & in )

inlineprotectedinherited

Definition at line 62 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CPolyhedron::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

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◆ render()

void CRenderizableDisplayList::render ( ) const

overridevirtualinherited

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

Implements mrpt::opengl::CRenderizable.

Definition at line 80 of file CRenderizableDisplayList.cpp.

References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().

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◆ render_dl()

void CMesh::render_dl ( ) const

overridevirtual

Render.

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 288 of file CMesh.cpp.

References GL_BLEND, GL_COLOR_MATERIAL, GL_DEPTH_TEST, GL_LIGHTING, GL_LINE_LOOP, GL_NORMALIZE, GL_ONE_MINUS_SRC_ALPHA, GL_SMOOTH, GL_SRC_ALPHA, GL_TRIANGLES, glBegin(), glBlendFunc(), glColor4f(), glDisable(), glEnable(), glEnd(), glNormal3f(), glShadeModel(), glVertex3f(), and mrpt::opengl::CMesh::TTriangleVertexIndices::vind.

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◆ renderTextBitmap() [1/2]

void 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

Definition at line 361 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::renderTextBitmap().

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◆ renderTextBitmap() [2/2]

void 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

Definition at line 332 of file gl_utils.cpp.

References aux_mrptfont2glutfont(), GL_DEPTH_TEST, GL_MODELVIEW, GL_PROJECTION, GL_TRANSFORM_BIT, GL_VIEWPORT, GL_VIEWPORT_BIT, glColor3f(), glDisable(), glEnable(), glGetIntegerv(), glLoadIdentity(), glMatrixMode(), glPopAttrib(), glPopMatrix(), glPushAttrib(), glPushMatrix(), glRasterPos3f(), glViewport(), and MRPT_UNUSED_PARAM.

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◆ serializeFrom() [1/2]

void CMesh::serializeFrom	(	mrpt::serialization::CArchive &	in,
		uint8_t	serial_version
	)

overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 403 of file CMesh.cpp.

References MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase & in )

inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CMesh::serializeGetVersion ( ) const

overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 387 of file CMesh.cpp.

◆ serializeTo() [1/2]

void CMesh::serializeTo ( mrpt::serialization::CArchive & out ) const

overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions

std::exception On any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 388 of file CMesh.cpp.

◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase & out ) const

inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf & c )

inlineinherited

Changes the default object color.

Returns: a ref to this

Definition at line 236 of file CRenderizable.h.

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

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ 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 244 of file CRenderizable.h.

References G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

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

inlineoverridevirtualinherited

Changes the default object color.

Returns: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 110 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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

inlineinherited

Color components in the range [0,255].

Returns: a ref to this

Definition at line 117 of file CRenderizableDisplayList.h.

References G, mrpt::opengl::CRenderizableDisplayList::notifyChange(), R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ 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 179 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

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

inlineoverridevirtualinherited

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 103 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ 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 174 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

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

inlineoverridevirtualinherited

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 96 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ 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 169 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

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

inlineoverridevirtualinherited

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 89 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ 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 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

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

inlineoverridevirtualinherited

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.

References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::img::TColor::R.

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◆ setGridLimits()

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

inline

Definition at line 102 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), xMax, xMin, yMax, and yMin.

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◆ setLocation() [1/2]

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 111 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setLocation() [2/2]

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 121 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setMask()

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

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

Definition at line 527 of file CMesh.cpp.

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

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◆ setName()

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

inlineinherited

Changes the name of the object.

Definition at line 65 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

◆ setPose() [1/6]

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

inherited

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

Definition at line 303 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setPose() [2/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D & o )

inherited

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

Definition at line 308 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [3/6]

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

inherited

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

Definition at line 313 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D & o )

inherited

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

Definition at line 318 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [5/6]

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

inherited

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

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 325 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ setPose() [6/6]

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

inherited

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

Set the 3D pose from a mrpt::poses::CPose3D object.

Definition at line 331 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS, DIM >::y().

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◆ 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 210 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ 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 217 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setUV()

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

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

Definition at line 534 of file CMesh.cpp.

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

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◆ setVisibility()

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

inlineinherited

Set object visibility (default=true)

See also: isVisible

Definition at line 73 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ setXBounds()

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

inline

Definition at line 194 of file CMesh.h.

References min, mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, xMax, and xMin.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ setXMax()

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

inline

Definition at line 166 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and xMax.

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◆ setXMin()

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

inline

Definition at line 160 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and xMin.

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◆ setYBounds()

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

inline

Definition at line 201 of file CMesh.h.

References min, mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, yMax, and yMin.

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ setYMax()

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

inline

Definition at line 178 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and yMax.

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◆ setYMin()

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

inline

Definition at line 172 of file CMesh.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), trianglesUpToDate, and yMin.

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◆ setZ()

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

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

Definition at line 515 of file CMesh.cpp.

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

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ 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 61 of file CRenderizableDisplayList.h.

Referenced by mrpt::opengl::CRenderizableDisplayList::render().

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◆ textBitmapWidth()

int 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; renderTextBitmap

Definition at line 370 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

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◆ traceRay()

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

overridevirtual

Trace ray.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 543 of file CMesh.cpp.

References mrpt::math::traceRay().

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◆ updateColorsMatrix()

void CMesh::updateColorsMatrix ( ) const

protected

Called internally to assure C is updated.

Definition at line 444 of file CMesh.cpp.

References mrpt::keep_max(), mrpt::keep_min(), mrpt::math::normalize(), mrpt::opengl::CRenderizableDisplayList::notifyChange(), and val.

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◆ updatePolygons()

void CMesh::updatePolygons ( ) const

protected

Definition at line 564 of file CMesh.cpp.

References createPolygonFromTriangle(), and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ updateTriangles()

void CMesh::updateTriangles ( ) const

protected

Called internally to assure the triangle list is updated.

List of triangles in the mesh
The accumulated normals & counts for each vertex, so normals can be averaged.

Definition at line 58 of file CMesh.cpp.

References mrpt::opengl::CSetOfTriangles::TTriangle::a, ASSERT_, mrpt::opengl::CSetOfTriangles::TTriangle::b, mrpt::img::colormap(), mrpt::opengl::CSetOfTriangles::TTriangle::g, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CSetOfTriangles::TTriangle::r, mrpt::opengl::CMesh::TTriangleVertexIndices::vind, mrpt::opengl::CSetOfTriangles::TTriangle::x, mrpt::opengl::CSetOfTriangles::TTriangle::y, and mrpt::opengl::CSetOfTriangles::TTriangle::z.

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::CSerializable::writeToMatlab ( ) const

inlinevirtualinherited

Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class.

Returns: A new mxArray (caller is responsible of memory freeing) or nullptr is class does not support conversion to MATLAB.

Definition at line 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive & out ) const

protectedinherited

Definition at line 104 of file CRenderizable.cpp.

Referenced by mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField2D::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CPolyhedron::serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().

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Member Data Documentation

◆ _init_CMesh

mrpt::rtti::CLASSINIT mrpt::opengl::CMesh::_init_CMesh

staticprotected

Definition at line 38 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 90 of file CMesh.h.

◆ C

math::CMatrixF mrpt::opengl::CMesh::C

mutableprotected

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

Definition at line 59 of file CMesh.h.

◆ C_b

math::CMatrixF mrpt::opengl::CMesh::C_b

mutableprotected

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

Definition at line 68 of file CMesh.h.

◆ C_g

math::CMatrixF mrpt::opengl::CMesh::C_g

mutableprotected

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

Definition at line 65 of file CMesh.h.

◆ C_r

math::CMatrixF mrpt::opengl::CMesh::C_r

mutableprotected

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

Definition at line 62 of file CMesh.h.

◆ className

constexpr const char* mrpt::opengl::CMesh::className = "CMesh"

static

Definition at line 38 of file CMesh.h.

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color

protectedinherited

Color components in the range [0,255].

Definition at line 51 of file CRenderizable.h.

◆ m_colorFromZ

bool mrpt::opengl::CMesh::m_colorFromZ {false}

protected

Definition at line 49 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_colorMap

mrpt::img::TColormap mrpt::opengl::CMesh::m_colorMap {mrpt::img::cmHOT}

protected

Used when m_colorFromZ is true.

Definition at line 71 of file CMesh.h.

Referenced by enableColorFromZ().

◆ m_enableTransparency

bool mrpt::opengl::CMesh::m_enableTransparency

protected

Definition at line 48 of file CMesh.h.

Referenced by enableTransparency().

◆ m_isImage

bool mrpt::opengl::CMesh::m_isImage {false}

protected

Definition at line 51 of file CMesh.h.

Referenced by adjustGridToImageAR().

◆ m_isWireFrame

bool mrpt::opengl::CMesh::m_isWireFrame {false}

protected

Definition at line 50 of file CMesh.h.

Referenced by enableWireFrame().

◆ m_modified_Image

bool mrpt::opengl::CMesh::m_modified_Image {false}

mutableprotected

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

Definition at line 76 of file CMesh.h.

◆ m_modified_Z

bool mrpt::opengl::CMesh::m_modified_Z {true}

mutableprotected

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

Definition at line 74 of file CMesh.h.

◆ m_name

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

protectedinherited

Definition at line 48 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ 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 54 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}

protectedinherited

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

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}

protectedinherited

Definition at line 56 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}

protectedinherited

Definition at line 49 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ m_textureImage

mrpt::img::CImage mrpt::opengl::CMesh::m_textureImage

protected

Definition at line 46 of file CMesh.h.

Referenced by adjustGridToImageAR().

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}

protectedinherited

Is the object visible? (default=true)

Definition at line 58 of file CRenderizable.h.

Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().

◆ mask

math::CMatrixF mrpt::opengl::CMesh::mask

protected

Definition at line 55 of file CMesh.h.

Referenced by getMask().

◆ polygonsUpToDate

bool mrpt::opengl::CMesh::polygonsUpToDate {false}

mutableprotected

Whether the polygon mesh (auxiliary structure for ray tracing) needs to be recalculated.

Definition at line 98 of file CMesh.h.

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CMesh::runtimeClassId

staticprotected

Definition at line 38 of file CMesh.h.

◆ tmpPolys

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

mutableprotected

Definition at line 99 of file CMesh.h.

◆ trianglesUpToDate

bool mrpt::opengl::CMesh::trianglesUpToDate {false}

mutableprotected

Whether the actual mesh needs to be recalculated.

Definition at line 95 of file CMesh.h.

Referenced by setXBounds(), setXMax(), setXMin(), setYBounds(), setYMax(), and setYMin().

◆ U

math::CMatrixF mrpt::opengl::CMesh::U

protected

Texture coordinates.

Definition at line 57 of file CMesh.h.

◆ V

math::CMatrixF mrpt::opengl::CMesh::V

protected

Definition at line 57 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 93 of file CMesh.h.

◆ xMax

float mrpt::opengl::CMesh::xMax

protected

Definition at line 86 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getXBounds(), getXMax(), setGridLimits(), setXBounds(), and setXMax().

◆ xMin

float mrpt::opengl::CMesh::xMin

protected

Mesh bounds.

Definition at line 86 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getXBounds(), getXMin(), setGridLimits(), setXBounds(), and setXMin().

◆ yMax

float mrpt::opengl::CMesh::yMax

protected

Definition at line 86 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getYBounds(), getYMax(), setGridLimits(), setYBounds(), and setYMax().

◆ yMin

float mrpt::opengl::CMesh::yMin

protected

Definition at line 86 of file CMesh.h.

Referenced by adjustGridToImageAR(), getGridLimits(), getYBounds(), getYMin(), setGridLimits(), setYBounds(), and setYMin().

◆ Z

math::CMatrixF mrpt::opengl::CMesh::Z

protected

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

Definition at line 54 of file CMesh.h.

Referenced by getZ().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CMesh()

◆ ~CMesh()

Member Function Documentation

◆ _GetBaseClass()

◆ adjustGridToImageAR()

◆ assignImage()

◆ assignImageAndZ()

◆ checkOpenGLError()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateObject()

◆ CreateUnique()

◆ duplicateGetSmartPtr()

◆ enableColorFromZ()

◆ enableShowName()

◆ enableTransparency()

◆ enableWireFrame()

◆ getBoundingBox()

◆ getClassName()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getGridLimits()

◆ getMask()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ getXBounds()

◆ getXMax()

◆ getXMin()

◆ getYBounds()

◆ getYMax()

◆ getYMin()

◆ getZ()

◆ isShowNameEnabled()

◆ isVisible()

◆ notifyChange()

◆ readFromStreamRender()

◆ releaseTextureName()

◆ render()

◆ render_dl()

◆ renderTextBitmap() [1/2]

◆ renderTextBitmap() [2/2]