Detailed Description

This class represents arbitrary polyhedra.

The class includes a set of static methods to create common polyhedrons. The class includes many methods to create standard polyhedra, not intended to be fast but to be simple. For example, the dodecahedron is not created efficiently: first, an icosahedron is created, and a duality operator is applied to it, which yields the dodecahedron. This way, code is much smaller, although much slower. This is not a big problem, since polyhedron creation does not usually take a significant amount of time (they are created once and rendered many times). Polyhedra information and models have been gotten from the Wikipedia, http://wikipedia.org

See also: opengl::COpenGLScene

mrpt::opengl::CPolyhedron

Definition at line 43 of file CPolyhedron.h.

#include <mrpt/opengl/CPolyhedron.h>

Inheritance diagram for mrpt::opengl::CPolyhedron:

Classes
struct	TPolyhedronEdge
	Struct used to store a polyhedron edge. More...

struct	TPolyhedronFace
	Struct used to store a polyhedron face. More...

Public Member Functions
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	render_dl () const override
	Render. More...

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

void	getVertices (std::vector< mrpt::math::TPoint3D > &vertices) const
	Gets a list with the polyhedron's vertices. More...

void	getEdges (std::vector< TPolyhedronEdge > &edges) const
	Gets a list with the polyhedron's edges. More...

void	getFaces (std::vector< TPolyhedronFace > &faces) const
	Gets a list with the polyhedron's faces. More...

uint32_t	getNumberOfVertices () const
	Gets the amount of vertices. More...

uint32_t	getNumberOfEdges () const
	Gets the amount of edges. More...

uint32_t	getNumberOfFaces () const
	Gets the amount of faces. More...

void	getEdgesLength (std::vector< double > &lengths) const
	Gets a vector with each edge's length. More...

void	getFacesArea (std::vector< double > &areas) const
	Gets a vector with each face's area. More...

double	getVolume () const
	Gets the polyhedron volume. More...

bool	isWireframe () const
	Returns whether the polyhedron will be rendered as a wireframe object. More...

void	setWireframe (bool enabled=true)
	Sets whether the polyhedron will be rendered as a wireframe object. More...

double	getLineWidth () const
	Gets the wireframe lines width. More...

void	setLineWidth (double lineWidth)
	Sets the width used to render lines, when wireframe rendering is activated. More...

void	getSetOfPolygons (std::vector< math::TPolygon3D > &vec) const
	Gets the polyhedron as a set of polygons. More...

void	getSetOfPolygonsAbsolute (std::vector< math::TPolygon3D > &vec) const
	Gets the polyhedron as a set of polygons, with the pose transformation already applied. More...

bool	isClosed () const
	Returns true if the polygon is a completely closed object. More...

void	makeConvexPolygons ()
	Recomputes polygons, if necessary, so that each one is convex. More...

void	getCenter (mrpt::math::TPoint3D &center) const
	Gets the center of the polyhedron. More...

void	updatePolygons () const
	Updates the mutable list of polygons used in rendering and ray tracing. More...

	CPolyhedron ()
	Basic empty constructor. More...

	CPolyhedron (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces, bool doCheck=true)
	Basic constructor with a list of vertices and another of faces, checking for correctness. More...

void	InitFromVertAndFaces (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces, bool doCheck=true)

	CPolyhedron (const std::vector< math::TPolygon3D > &polys)

	CPolyhedron (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< std::vector< uint32_t >> &faces)

	~CPolyhedron () override=default
	Destructor. 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...

Polyhedron special operations.
CPolyhedron::Ptr	getDual () const
	Given a polyhedron, creates its dual. More...

CPolyhedron::Ptr	truncate (double factor) const
	Truncates a polyhedron to a given factor. More...

CPolyhedron::Ptr	cantellate (double factor) const
	Cantellates a polyhedron to a given factor. More...

CPolyhedron::Ptr	augment (double height) const
	Augments a polyhedron to a given height. More...

CPolyhedron::Ptr	augment (double height, size_t numVertices) const
	Augments a polyhedron to a given height. More...

CPolyhedron::Ptr	augment (bool direction=false) const
	Augments a polyhedron, so that the resulting triangles are equilateral. More...

CPolyhedron::Ptr	augment (size_t numVertices, bool direction=false) const
	Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces. More...

CPolyhedron::Ptr	rotate (double angle) const
	Rotates a polyhedron around the Z axis a given amount of radians. More...

CPolyhedron::Ptr	scale (double factor) const
	Scales a polyhedron to a given factor. 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
template<class T >
static size_t	getIntersection (const CPolyhedron::Ptr &p1, const CPolyhedron::Ptr &p2, T &container)
	Gets the intersection of two polyhedra, either as a set or as a matrix of intersections. More...

static CPolyhedron::Ptr	CreateRandomPolyhedron (double radius)
	Creates a random polyhedron from the static methods. More...

static CPolyhedron::Ptr	CreateNoCheck (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces)
	Creates a polyhedron without checking its correctness. More...

static CPolyhedron::Ptr	CreateEmpty ()
	Creates an empty Polyhedron. More...

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...

Platonic solids.
static CPolyhedron::Ptr	CreateTetrahedron (double radius)
	Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron). More...

static CPolyhedron::Ptr	CreateHexahedron (double radius)
	Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron). More...

static CPolyhedron::Ptr	CreateOctahedron (double radius)
	Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron). More...

static CPolyhedron::Ptr	CreateDodecahedron (double radius)
	Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron). More...

static CPolyhedron::Ptr	CreateIcosahedron (double radius)
	Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron). More...

Archimedean solids.
static CPolyhedron::Ptr	CreateTruncatedTetrahedron (double radius)
	Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron). More...

static CPolyhedron::Ptr	CreateCuboctahedron (double radius)
	Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron). More...

static CPolyhedron::Ptr	CreateTruncatedHexahedron (double radius)
	Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron). More...

static CPolyhedron::Ptr	CreateTruncatedOctahedron (double radius)
	Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron). More...

static CPolyhedron::Ptr	CreateRhombicuboctahedron (double radius, bool type=true)
	Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola. More...

static CPolyhedron::Ptr	CreateIcosidodecahedron (double radius, bool type=true)
	Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron). More...

static CPolyhedron::Ptr	CreateTruncatedDodecahedron (double radius)
	Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron). More...

static CPolyhedron::Ptr	CreateTruncatedIcosahedron (double radius)
	Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons. More...

static CPolyhedron::Ptr	CreateRhombicosidodecahedron (double radius)
	Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron). More...

Other Johnson solids.
static CPolyhedron::Ptr	CreatePentagonalRotunda (double radius)
	Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda). More...

Catalan solids.
static CPolyhedron::Ptr	CreateTriakisTetrahedron (double radius)
	Creates a triakis tetrahedron, dual to the truncated tetrahedron. More...

static CPolyhedron::Ptr	CreateRhombicDodecahedron (double radius)
	Creates a rhombic dodecahedron, dual to the cuboctahedron. More...

static CPolyhedron::Ptr	CreateTriakisOctahedron (double radius)
	Creates a triakis octahedron, dual to the truncated hexahedron. More...

static CPolyhedron::Ptr	CreateTetrakisHexahedron (double radius)
	Creates a tetrakis hexahedron, dual to the truncated octahedron. More...

static CPolyhedron::Ptr	CreateDeltoidalIcositetrahedron (double radius)
	Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron. More...

static CPolyhedron::Ptr	CreateRhombicTriacontahedron (double radius)
	Creates a rhombic triacontahedron, dual to the icosidodecahedron. More...

static CPolyhedron::Ptr	CreateTriakisIcosahedron (double radius)
	Creates a triakis icosahedron, dual to the truncated dodecahedron. More...

static CPolyhedron::Ptr	CreatePentakisDodecahedron (double radius)
	Creates a pentakis dodecahedron, dual to the truncated icosahedron. More...

static CPolyhedron::Ptr	CreateDeltoidalHexecontahedron (double radius)
	Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron. More...

Customizable polyhedra
static CPolyhedron::Ptr	CreateCubicPrism (double x1, double x2, double y1, double y2, double z1, double z2)
	Creates a cubic prism, given the coordinates of two opposite vertices. More...

static CPolyhedron::Ptr	CreateCubicPrism (const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2)
	Creates a cubic prism, given two opposite vertices. More...

static CPolyhedron::Ptr	CreatePyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height)
	Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane. More...

static CPolyhedron::Ptr	CreateDoublePyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height1, double height2)
	Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane. More...

static CPolyhedron::Ptr	CreateTruncatedPyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height, double ratio)
	Creates a truncated pyramid, using a set of vertices which will lie on the XY plane. More...

static CPolyhedron::Ptr	CreateFrustum (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height, double ratio)
	This is a synonym for CreateTruncatedPyramid. More...

static CPolyhedron::Ptr	CreateCustomPrism (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height)
	Creates a custom prism with vertical edges, given any base which will lie on the XY plane. More...

static CPolyhedron::Ptr	CreateCustomAntiprism (const std::vector< mrpt::math::TPoint2D > &bottomBase, const std::vector< mrpt::math::TPoint2D > &topBase, double height)
	Creates a custom antiprism, using two custom bases. More...

static CPolyhedron::Ptr	CreateParallelepiped (const mrpt::math::TPoint3D &base, const mrpt::math::TPoint3D &v1, const mrpt::math::TPoint3D &v2, const mrpt::math::TPoint3D &v3)
	Creates a parallelepiped, given a base point and three vectors represented as points. More...

static CPolyhedron::Ptr	CreateBifrustum (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height1, double ratio1, double height2, double ratio2)
	Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane. More...

static CPolyhedron::Ptr	CreateTrapezohedron (uint32_t numBaseEdges, double baseRadius, double basesDistance)
	Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base. More...

static CPolyhedron::Ptr	CreateRegularAntiprism (uint32_t numBaseEdges, double baseRadius, double height)
	Creates an antiprism whose base is a regular polygon. More...

static CPolyhedron::Ptr	CreateRegularPrism (uint32_t numBaseEdges, double baseRadius, double height)
	Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane. More...

static CPolyhedron::Ptr	CreateRegularPyramid (uint32_t numBaseEdges, double baseRadius, double height)
	Creates a regular pyramid whose base is a regular polygon. More...

static CPolyhedron::Ptr	CreateRegularDoublePyramid (uint32_t numBaseEdges, double baseRadius, double height1, double height2)
	Creates a regular double pyramid whose base is a regular polygon. More...

static CPolyhedron::Ptr	CreateArchimedeanRegularPrism (uint32_t numBaseEdges, double baseRadius)
	Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon. More...

static CPolyhedron::Ptr	CreateArchimedeanRegularAntiprism (uint32_t numBaseEdges, double baseRadius)
	Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon. More...

static CPolyhedron::Ptr	CreateRegularTruncatedPyramid (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
	Creates a regular truncated pyramid whose base is a regular polygon. More...

static CPolyhedron::Ptr	CreateRegularFrustum (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
	This is a synonym for CreateRegularTruncatedPyramid. More...

static CPolyhedron::Ptr	CreateRegularBifrustum (uint32_t numBaseEdges, double baseRadius, double height1, double ratio1, double height2, double ratio2)
	Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane. More...

static CPolyhedron::Ptr	CreateCupola (uint32_t numBaseEdges, double edgeLength)
	Creates a cupola. More...

static CPolyhedron::Ptr	CreateCatalanTrapezohedron (uint32_t numBaseEdges, double height)
	Creates a trapezohedron whose dual is exactly an archimedean antiprism. More...

static CPolyhedron::Ptr	CreateCatalanDoublePyramid (uint32_t numBaseEdges, double height)
	Creates a double pyramid whose dual is exactly an archimedean prism. More...

static CPolyhedron::Ptr	CreateJohnsonSolidWithConstantBase (uint32_t numBaseEdges, double baseRadius, const std::string &components, size_t shifts=0)
	Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges. More...

Protected Member Functions
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
std::vector< mrpt::math::TPoint3D >	mVertices
	List of vertices presents in the polyhedron. More...

std::vector< TPolyhedronEdge >	mEdges
	List of polyhedron's edges. More...

std::vector< TPolyhedronFace >	mFaces
	List of polyhedron's faces. More...

bool	mWireframe {false}
	This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges. More...

double	mLineWidth {1}
	When displaying as wireframe object, this variable stores the width of the edges. More...

std::vector< mrpt::math::TPolygonWithPlane >	tempPolygons
	Mutable list of actual polygons, maintained for speed. More...

bool	polygonsUpToDate {false}
	Whether the set of actual polygons is up to date or not. More...

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...

Private Member Functions
bool	setNormal (TPolyhedronFace &f, bool doCheck=true)
	Calculates the normal vector to a face. More...

void	addEdges (const TPolyhedronFace &e)
	Adds, to the existing list of edges, each edge in a given face. More...

size_t	edgesInVertex (size_t vertex) const
	Returns how many edges converge in a given vertex. More...

size_t	facesInVertex (size_t vertex) const
	Returns how many faces converge in a given vertex. More...

Static Private Member Functions
static std::vector< mrpt::math::TPoint2D >	generateBase (uint32_t numBaseEdges, double baseRadius)
	Generates a list of 2D vertices constituting a regular polygon. More...

static std::vector< mrpt::math::TPoint2D >	generateShiftedBase (uint32_t numBaseEdges, double baseRadius)
	Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms. More...

static void	generateBase (uint32_t numBaseEdges, double baseRadius, double height, std::vector< mrpt::math::TPoint3D > &vec)
	Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector. More...

static void	generateShiftedBase (uint32_t numBaseEdges, double baseRadius, double height, double shift, std::vector< mrpt::math::TPoint3D > &vec)
	Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector. More...

static bool	checkConsistence (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces)
	Checks whether a set of faces is suitable for a set of vertices. More...

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

using	ConstPtr = std::shared_ptr< const CPolyhedron >

using	UniquePtr = std::unique_ptr< CPolyhedron >

using	ConstUniquePtr = std::unique_ptr< const CPolyhedron >

static mrpt::rtti::CLASSINIT	_init_CPolyhedron

static const mrpt::rtti::TRuntimeClassId	runtimeClassId

static constexpr const char *	className = "CPolyhedron"

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::CPolyhedron::ConstPtr = std::shared_ptr<const CPolyhedron >

Definition at line 45 of file CPolyhedron.h.

◆ ConstUniquePtr

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

Definition at line 45 of file CPolyhedron.h.

◆ Ptr

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

A type for the associated smart pointer

Definition at line 45 of file CPolyhedron.h.

◆ UniquePtr

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

Definition at line 45 of file CPolyhedron.h.

Constructor & Destructor Documentation

◆ CPolyhedron() [1/4]

mrpt::opengl::CPolyhedron::CPolyhedron ( )

inline

Basic empty constructor.

Definition at line 884 of file CPolyhedron.h.

◆ CPolyhedron() [2/4]

mrpt::opengl::CPolyhedron::CPolyhedron	(	const std::vector< mrpt::math::TPoint3D > &	vertices,
		const std::vector< TPolyhedronFace > &	faces,
		bool	doCheck = `true`
	)

inline

Basic constructor with a list of vertices and another of faces, checking for correctness.

Definition at line 889 of file CPolyhedron.h.

◆ CPolyhedron() [3/4]

CPolyhedron::CPolyhedron ( const std::vector< math::TPolygon3D > & polys )

Definition at line 515 of file CPolyhedron.cpp.

References getVerticesAndFaces(), InitFromVertAndFaces(), mFaces, and mVertices.

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◆ CPolyhedron() [4/4]

CPolyhedron::CPolyhedron	(	const std::vector< mrpt::math::TPoint3D > &	vertices,
		const std::vector< std::vector< uint32_t >> &	faces
	)

Definition at line 528 of file CPolyhedron.cpp.

References InitFromVertAndFaces(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ ~CPolyhedron()

mrpt::opengl::CPolyhedron::~CPolyhedron ( )

overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

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

staticprotected

◆ addEdges()

void CPolyhedron::addEdges ( const TPolyhedronFace & e )

private

Adds, to the existing list of edges, each edge in a given face.

Definition at line 1907 of file CPolyhedron.cpp.

References mrpt::containers::find(), mEdges, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by makeConvexPolygons(), and serializeFrom().

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◆ augment() [1/4]

CPolyhedron::Ptr CPolyhedron::augment ( double height ) const

Augments a polyhedron to a given height.

This operation is roughly dual to the truncation: given a body P, the operation dtdP and aP yield resembling results.

See also: getDual,truncate,cantellate

Definition at line 1593 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [2/4]

CPolyhedron::Ptr CPolyhedron::augment	(	double	height,
		size_t	numVertices
	)		const

Augments a polyhedron to a given height.

This method only affects to faces with certain number of vertices.

See also: augment(double) const

Definition at line 1638 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [3/4]

CPolyhedron::Ptr CPolyhedron::augment ( bool direction = false ) const

Augments a polyhedron, so that the resulting triangles are equilateral.

If the argument is true, triangles are "cut" from the polyhedron, instead of being added.

Exceptions

std::logic_error a non-regular face has been found.

See also: augment(double) const

Definition at line 1699 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [4/4]

CPolyhedron::Ptr CPolyhedron::augment	(	size_t	numVertices,
		bool	direction = `false`
	)		const

Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces.

If the second argument is true, triangles are "cut" from the polyhedron.

Exceptions

std::logic_error a non-regular face has been found.

See also: augment(double) const

Definition at line 1745 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ cantellate()

CPolyhedron::Ptr CPolyhedron::cantellate ( double factor ) const

Cantellates a polyhedron to a given factor.

See also: getDual,truncate,augment

Definition at line 1507 of file CPolyhedron.cpp.

References mrpt::containers::begin(), CreateEmpty(), CreateNoCheck(), getCenter(), getSetOfPolygons(), mEdges, mFaces, mVertices, and searchForEdge().

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◆ checkConsistence()

bool CPolyhedron::checkConsistence	(	const std::vector< mrpt::math::TPoint3D > &	vertices,
		const std::vector< TPolyhedronFace > &	faces
	)

staticprivate

Checks whether a set of faces is suitable for a set of vertices.

Definition at line 1926 of file CPolyhedron.cpp.

Referenced by serializeFrom().

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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 render_dl().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CPolyhedron::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::CPolyhedron::Create ( Args &&... args )

inlinestatic

Definition at line 45 of file CPolyhedron.h.

Referenced by CreateEmpty(), and CreateNoCheck().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>

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

inlinestatic

Definition at line 45 of file CPolyhedron.h.

◆ CreateArchimedeanRegularAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateArchimedeanRegularAntiprism	(	uint32_t	numBaseEdges,
		double	baseRadius
	)

static

Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also: CreateRegularAntiprism,CreateCustomAntiprism

Definition at line 2233 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateCatalanTrapezohedron(), and CreateRandomPolyhedron().

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◆ CreateArchimedeanRegularPrism()

CPolyhedron::Ptr CPolyhedron::CreateArchimedeanRegularPrism	(	uint32_t	numBaseEdges,
		double	baseRadius
	)

static

Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also: CreateRegularPrism,CreateCustomPrism

Definition at line 2228 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateCatalanDoublePyramid(), and CreateRandomPolyhedron().

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◆ CreateBifrustum()

CPolyhedron::Ptr CPolyhedron::CreateBifrustum	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height1,
		double	ratio1,
		double	height2,
		double	ratio2
	)

static

Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane.

See also: CreateFrustum,CreateDoublePyramid

Definition at line 725 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularBifrustum().

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◆ CreateCatalanDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateCatalanDoublePyramid	(	uint32_t	numBaseEdges,
		double	height
	)

static

Creates a double pyramid whose dual is exactly an archimedean prism.

Creates an octahedron if numBaseEdges is equal to 4.

Todo:: Actually resulting height is significantly higher than that passed to the algorithm.

See also: CreateDoublePyramid,CreateArchimedeanRegularPrism,getDual

Definition at line 2269 of file CPolyhedron.cpp.

References CreateArchimedeanRegularPrism().

Referenced by CreateRandomPolyhedron().

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◆ CreateCatalanTrapezohedron()

CPolyhedron::Ptr CPolyhedron::CreateCatalanTrapezohedron	(	uint32_t	numBaseEdges,
		double	height
	)

static

Creates a trapezohedron whose dual is exactly an archimedean antiprism.

Creates a cube if numBaseEdges is equal to 3.

Todo:: Actually resulting height is significantly higher than that passed to the algorithm.

See also: CreateTrapezohedron,CreateArchimedeanRegularAntiprism,getDual

Definition at line 2264 of file CPolyhedron.cpp.

References CreateArchimedeanRegularAntiprism().

Referenced by CreateRandomPolyhedron().

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◆ CreateCubicPrism() [1/2]

CPolyhedron::Ptr CPolyhedron::CreateCubicPrism	(	double	x1,
		double	x2,
		double	y1,
		double	y2,
		double	z1,
		double	z2
	)

static

Creates a cubic prism, given the coordinates of two opposite vertices.

Each edge will be parallel to one of the coordinate axes, although the orientation may change by assigning a pose to the object.

See also: CreateCubicPrism(const mrpt::math::TPoint3D &,const mrpt::math::TPoint3D &),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 541 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by mrpt::opengl::stock_objects::BumblebeeCamera(), CreateCubicPrism(), and CreateHexahedron().

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◆ CreateCubicPrism() [2/2]

CPolyhedron::Ptr CPolyhedron::CreateCubicPrism	(	const mrpt::math::TPoint3D &	p1,
		const mrpt::math::TPoint3D &	p2
	)

static

Creates a cubic prism, given two opposite vertices.

See also: CreateCubicPrism(double,double,double,double,double,double),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 2190 of file CPolyhedron.cpp.

References CreateCubicPrism(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ CreateCuboctahedron()

CPolyhedron::Ptr CPolyhedron::CreateCuboctahedron ( double radius )

static

Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron).

There are several ways to create a cuboctahedron:

Hexahedron truncated to a certain extent.
Octahedron truncated to a certain extent.
Cantellated tetrahedron
Dual to a rhombic dodecahedron.

See also: CreateHexahedron,CreateOctahedron,truncate,CreateTetrahedron,cantellate,CreateRhombicuboctahedron,CreateRhombicDodecahedron,

Definition at line 2105 of file CPolyhedron.cpp.

References CreateHexahedron().

Referenced by CreateRandomPolyhedron(), and CreateRhombicDodecahedron().

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◆ CreateCupola()

CPolyhedron::Ptr CPolyhedron::CreateCupola	(	uint32_t	numBaseEdges,
		double	edgeLength
	)

static

Creates a cupola.

Exceptions

std::logic_error if the number of edges is odd or less than four.

Definition at line 2258 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), and M_PI.

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◆ CreateCustomAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateCustomAntiprism	(	const std::vector< mrpt::math::TPoint2D > &	bottomBase,
		const std::vector< mrpt::math::TPoint2D > &	topBase,
		double	height
	)

static

Creates a custom antiprism, using two custom bases.

For better results, the top base should be slightly rotated with respect to the bottom one.

See also: CreateCustomPrism,CreateRegularAntiprism,CreateArchimedeanRegularAntiprism

Definition at line 650 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularAntiprism().

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◆ CreateCustomPrism()

CPolyhedron::Ptr CPolyhedron::CreateCustomPrism	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height
	)

static

Creates a custom prism with vertical edges, given any base which will lie on the XY plane.

See also: CreateCubicPrism,CreateCustomAntiprism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 2200 of file CPolyhedron.cpp.

References CreateTruncatedPyramid().

Referenced by CreateRegularPrism(), mrpt::opengl::stock_objects::RobotGiraff(), and mrpt::opengl::stock_objects::RobotRhodon().

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◆ CreateDeltoidalHexecontahedron()

CPolyhedron::Ptr CPolyhedron::CreateDeltoidalHexecontahedron ( double radius )

static

Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron.

This body consists of 60 kites (see http://en.wikipedia.org/wiki/Deltoidal_hexecontahedron).

See also: CreateRhombicosidodecahedron

Definition at line 2185 of file CPolyhedron.cpp.

References CreateRhombicosidodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateDeltoidalIcositetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateDeltoidalIcositetrahedron ( double radius )

static

Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron.

This body consists of 24 kites (see http://en.wikipedia.org/wiki/Deltoidal_icositetrahedron).

See also: CreateRhombicuboctahedron

Definition at line 2165 of file CPolyhedron.cpp.

References CreateRhombicuboctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateDodecahedron ( double radius )

static

Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron).

The dodecahedron is created as the dual to an icosahedron.

See also: CreateIcosahedron,getDual,CreateTruncatedDodecahedron,CreateTruncatedIcosahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 2090 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedDodecahedron().

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◆ CreateDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateDoublePyramid	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height1,
		double	height2
	)

static

Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane.

The second height is used with the downwards pointing pyramid, so that it will effectively point downwards if it's positive.

See also: CreatePyramid,CreateBifrustum,CreateRegularDoublePyramid

Definition at line 589 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularDoublePyramid().

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◆ CreateEmpty()

CPolyhedron::Ptr CPolyhedron::CreateEmpty ( )

static

Creates an empty Polyhedron.

Definition at line 2280 of file CPolyhedron.cpp.

References Create().

Referenced by cantellate(), CreateHexahedron(), CreateJohnsonSolidWithConstantBase(), CreateRandomPolyhedron(), CreateTrapezohedron(), and truncate().

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◆ CreateFrustum()

CPolyhedron::Ptr CPolyhedron::CreateFrustum	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height,
		double	ratio
	)

static

This is a synonym for CreateTruncatedPyramid.

See also: CreateTruncatedPyramid

Definition at line 2195 of file CPolyhedron.cpp.

References CreateTruncatedPyramid().

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◆ CreateHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateHexahedron ( double radius )

static

Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron).

The hexahedron is created as a cubic prism which transitive edges. Another ways to create it include:

Dual to an octahedron.
Parallelepiped with three orthogonal, equally-lengthed vectors.
Triangular trapezohedron with proper height.

See also: CreateOctahedron,getDual,CreateParallelepiped,CreateTrapezohedron,CreateTruncatedHexahedron,CreateTruncatedOctahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 2080 of file CPolyhedron.cpp.

References CreateCubicPrism(), and CreateEmpty().

Referenced by CreateCuboctahedron(), CreateRandomPolyhedron(), and CreateTruncatedHexahedron().

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◆ CreateIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateIcosahedron ( double radius )

static

Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron).

The icosahedron is created as a gyroelongated pentagonal bipyramid with transitive edges, and it's the dual to a dodecahedron.

See also: CreateJohnsonSolidWithConstantBase,CreateDodecahedron,getDual,CreateTruncatedIcosahedron,CreateTruncatedDodecahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 2094 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().

Referenced by CreateDodecahedron(), CreateRandomPolyhedron(), CreateRhombicosidodecahedron(), and CreateTruncatedIcosahedron().

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◆ CreateIcosidodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateIcosidodecahedron	(	double	radius,
		bool	type = `true`
	)

static

Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron).

Certain truncations of either a dodecahedron or an icosahedron yield an icosidodecahedron. The dual of the icosidodecahedron is the rhombic triacontahedron. If the second argument is set to false, the lower rotunda is rotated. In this case, the object created is a pentagonal orthobirotunda (see http://en.wikipedia.org/wiki/Pentagonal_orthobirotunda). This object presents symmetry against the XY plane and is not vertex transitive, so it's a Johnson's solid.

See also: CreateDodecahedron,CreateIcosahedron,truncate,CreateRhombicosidodecahedron,CreateRhombicTriacontahedron

Definition at line 2125 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateRhombicTriacontahedron().

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◆ CreateJohnsonSolidWithConstantBase()

CPolyhedron::Ptr CPolyhedron::CreateJohnsonSolidWithConstantBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		const std::string &	components,
		size_t	shifts = `0`
	)

static

Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges.

Every face of the resulting body will be a regular polygon, so it is a Johnson solid; in special cases, it may be archimedean or even platonic. The shape of the body is defined by the string argument, which can include one or more of the following:

String	Body	Restrictions
P+	Upward pointing pyramid	Must be the last object, vertex number cannot surpass 5
P-	Downward pointing pyramid	Must be the first object, vertex number cannot surpass 5
C+	Upward pointing cupola	Must be the last object, vertex number must be an even number in the range 4-10.
C-	Downward pointing cupola	Must be the first object, vertex number must be an even number in the range 4-10.
GC+	Upward pointing cupola, rotated	Must be the last object, vertex number must be an even number in the range 4-10.
GC-	Downward pointing cupola, rotated	Must be the first object, vertex number must be an even number in the range 4-10.
PR	Archimedean prism	Cannot abut other prism
A	Archimedean antiprism	None
R+	Upward pointing rotunda	Must be the last object, vertex number must be exactly 10
R-	Downward pointing rotunda	Must be the first object, vertex number must be exactly 10
GR+	Upward pointing rotunda, rotated	Must be the last object, vertex number must be exactly 10
GR-	Downward pointing rotunda	Must be the first object, vertex number must be exactly 10

Some examples of bodies are:

String	Vertices	Resulting body
P+	3	Tetrahedron
PR	4	Hexahedron
P-P+	4	Octahedron
A	3	Octahedron
C+PRC-	8	Rhombicuboctahedron
P-AP+	5	Icosahedron
R-R+	10	Icosidodecahedron

Definition at line 827 of file CPolyhedron.cpp.

References additionalFaces(), additionalVertices(), analyzeJohnsonPartsString(), ANTIPRISM, CreateEmpty(), CreateNoCheck(), DOWNWARDS_CUPOLA, DOWNWARDS_PYRAMID, DOWNWARDS_ROTUNDA, generateShiftedBase(), INF_NO_BODY, insertCupola(), insertRotunda(), M_PI, PRISM, ROTATED_DOWNWARDS_CUPOLA, ROTATED_DOWNWARDS_ROTUNDA, ROTATED_UPWARDS_CUPOLA, ROTATED_UPWARDS_ROTUNDA, mrpt::square(), SUP_NO_BODY, UPWARDS_CUPOLA, UPWARDS_PYRAMID, and UPWARDS_ROTUNDA.

Referenced by CreateArchimedeanRegularAntiprism(), CreateArchimedeanRegularPrism(), CreateCupola(), CreateIcosahedron(), CreateIcosidodecahedron(), CreateOctahedron(), CreatePentagonalRotunda(), CreateRandomPolyhedron(), CreateRhombicuboctahedron(), and CreateTetrahedron().

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◆ CreateNoCheck()

CPolyhedron::Ptr CPolyhedron::CreateNoCheck	(	const std::vector< mrpt::math::TPoint3D > &	vertices,
		const std::vector< TPolyhedronFace > &	faces
	)

static

Creates a polyhedron without checking its correctness.

Definition at line 2275 of file CPolyhedron.cpp.

References Create().

Referenced by augment(), cantellate(), CreateBifrustum(), CreateCubicPrism(), CreateCustomAntiprism(), CreateDoublePyramid(), CreateJohnsonSolidWithConstantBase(), CreateParallelepiped(), CreatePyramid(), CreateTrapezohedron(), CreateTruncatedPyramid(), rotate(), scale(), and truncate().

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◆ CreateObject()

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

static

◆ CreateOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateOctahedron ( double radius )

static

Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron).

The octahedron is created as a square bipyramid whit transitive edges and vertices. Another ways to create an octahedron are:

Dual to an hexahedron
Triangular antiprism with transitive vertices.
Conveniently truncated tetrahedron.

See also: CreateHexahedron,getDual,CreateArchimedeanAntiprism,CreateTetrahedron,truncate,CreateTruncatedOctahedron,CreateTruncatedHexahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 2086 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedOctahedron().

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◆ CreateParallelepiped()

CPolyhedron::Ptr CPolyhedron::CreateParallelepiped	(	const mrpt::math::TPoint3D &	base,
		const mrpt::math::TPoint3D &	v1,
		const mrpt::math::TPoint3D &	v2,
		const mrpt::math::TPoint3D &	v3
	)

static

Creates a parallelepiped, given a base point and three vectors represented as points.

See also: CreateCubicPrism

Definition at line 685 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ CreatePentagonalRotunda()

CPolyhedron::Ptr CPolyhedron::CreatePentagonalRotunda ( double radius )

static

Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda).

See also: CreateIcosidodecahedron,CreateJohnsonSolidWithConstantBase

Definition at line 2145 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

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◆ CreatePentakisDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreatePentakisDodecahedron ( double radius )

static

Creates a pentakis dodecahedron, dual to the truncated icosahedron.

This body consists of 60 isosceles triangles (see http://en.wikipedia.org/wiki/Pentakis_dodecahedron).

See also: CreateTruncatedIcosahedron

Definition at line 2180 of file CPolyhedron.cpp.

References CreateTruncatedIcosahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreatePyramid()

CPolyhedron::Ptr CPolyhedron::CreatePyramid	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height
	)

static

Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane.

See also: CreateDoublePyramid,CreateFrustum,CreateBifrustum,CreateRegularPyramid

Definition at line 562 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularPyramid().

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◆ CreateRandomPolyhedron()

CPolyhedron::Ptr CPolyhedron::CreateRandomPolyhedron ( double radius )

static

Creates a random polyhedron from the static methods.

Definition at line 1195 of file CPolyhedron.cpp.

References CreateArchimedeanRegularAntiprism(), CreateArchimedeanRegularPrism(), CreateCatalanDoublePyramid(), CreateCatalanTrapezohedron(), CreateCuboctahedron(), CreateDeltoidalHexecontahedron(), CreateDeltoidalIcositetrahedron(), CreateDodecahedron(), CreateEmpty(), CreateHexahedron(), CreateIcosahedron(), CreateIcosidodecahedron(), CreateJohnsonSolidWithConstantBase(), CreateOctahedron(), CreatePentakisDodecahedron(), CreateRhombicDodecahedron(), CreateRhombicosidodecahedron(), CreateRhombicTriacontahedron(), CreateRhombicuboctahedron(), CreateTetrahedron(), CreateTetrakisHexahedron(), CreateTriakisIcosahedron(), CreateTriakisOctahedron(), CreateTriakisTetrahedron(), CreateTruncatedDodecahedron(), CreateTruncatedHexahedron(), CreateTruncatedIcosahedron(), CreateTruncatedOctahedron(), CreateTruncatedTetrahedron(), and mrpt::random::getRandomGenerator().

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◆ CreateRegularAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateRegularAntiprism	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)

static

Creates an antiprism whose base is a regular polygon.

The upper base is rotated $\frac\pi N$ with respect to the lower one, where N is the number of vertices in the base, and thus the lateral triangles are isosceles.

See also: CreateCustomAntiprism,CreateArchimedeanRegularAntiprism

Definition at line 2205 of file CPolyhedron.cpp.

References CreateCustomAntiprism(), generateBase(), and generateShiftedBase().

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◆ CreateRegularBifrustum()

CPolyhedron::Ptr CPolyhedron::CreateRegularBifrustum	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height1,
		double	ratio1,
		double	height2,
		double	ratio2
	)

static

Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane.

See also: CreateBifrustum

Definition at line 2250 of file CPolyhedron.cpp.

References CreateBifrustum(), and generateBase().

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◆ CreateRegularDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularDoublePyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height1,
		double	height2
	)

static

Creates a regular double pyramid whose base is a regular polygon.

See also: CreateDoublePyramid

Definition at line 2222 of file CPolyhedron.cpp.

References CreateDoublePyramid(), and generateBase().

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◆ CreateRegularFrustum()

CPolyhedron::Ptr CPolyhedron::CreateRegularFrustum	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	ratio
	)

static

This is a synonym for CreateRegularTruncatedPyramid.

See also: CreateRegularTruncatedPyramid

Definition at line 2244 of file CPolyhedron.cpp.

References CreateRegularTruncatedPyramid().

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◆ CreateRegularPrism()

CPolyhedron::Ptr CPolyhedron::CreateRegularPrism	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)

static

Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane.

See also: CreateCubicPrism,CreateCustomPrism,CreateArchimedeanRegularAntiprism

Definition at line 2212 of file CPolyhedron.cpp.

References CreateCustomPrism(), and generateBase().

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◆ CreateRegularPyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularPyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)

static

Creates a regular pyramid whose base is a regular polygon.

See also: CreatePyramid

Definition at line 2217 of file CPolyhedron.cpp.

References CreatePyramid(), and generateBase().

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◆ CreateRegularTruncatedPyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularTruncatedPyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	ratio
	)

static

Creates a regular truncated pyramid whose base is a regular polygon.

See also: CreateTruncatedPyramid

Definition at line 2238 of file CPolyhedron.cpp.

References CreateTruncatedPyramid(), and generateBase().

Referenced by CreateRegularFrustum().

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◆ CreateRhombicDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicDodecahedron ( double radius )

static

Creates a rhombic dodecahedron, dual to the cuboctahedron.

This body consists of 12 rhombi (see http://en.wikipedia.org/wiki/Rhombic_dodecahedron).

See also: CreateCuboctahedron

Definition at line 2153 of file CPolyhedron.cpp.

References CreateCuboctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateRhombicosidodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicosidodecahedron ( double radius )

static

Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron).

This object can be obtained as the cantellation of either a dodecahedron or an icosahedron. The dual of the rhombicosidodecahedron is the deltoidal hexecontahedron.

See also: CreateDodecahedron,CreateIcosahedron,CreateIcosidodecahedron,CreateDeltoidalHexecontahedron

Definition at line 2140 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreateDeltoidalHexecontahedron(), and CreateRandomPolyhedron().

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◆ CreateRhombicTriacontahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicTriacontahedron ( double radius )

static

Creates a rhombic triacontahedron, dual to the icosidodecahedron.

This body consists of 30 rhombi (see http://en.wikipedia.org/wiki/Rhombic_triacontahedron).

See also: CreateIcosidodecahedron

Definition at line 2170 of file CPolyhedron.cpp.

References CreateIcosidodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateRhombicuboctahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicuboctahedron	(	double	radius,
		bool	type = `true`
	)

static

Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola.

It can also be calculated as a cantellated hexahedron or octahedron, and its dual is the deltoidal icositetrahedron. If the second argument is set to false, the lower cupola is rotated, so that the objet created is an elongated square gyrobicupola (see http://en.wikipedia.org/wiki/Elongated_square_gyrobicupola). This is not an archimedean solid, but a Johnson one, since it hasn't got vertex transitivity.

See also: CreateJohnsonSolidWithConstantBase,CreateHexahedron,CreateOctahedron,cantellate,CreateCuboctahedron,CreateDeltoidalIcositetrahedron

Definition at line 2118 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().

Referenced by CreateDeltoidalIcositetrahedron(), and CreateRandomPolyhedron().

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◆ CreateTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTetrahedron ( double radius )

static

Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron).

The tetrahedron is created as a triangular pyramid whose edges and vertices are transitive. The tetrahedron is the dual to itself.

See also: CreatePyramid,CreateJohnsonSolidWithConstantBase,CreateTruncatedTetrahedron

Definition at line 2073 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedTetrahedron().

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◆ CreateTetrakisHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateTetrakisHexahedron ( double radius )

static

Creates a tetrakis hexahedron, dual to the truncated octahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Tetrakis_hexahedron).

See also: CreateTruncatedOctahedron

Definition at line 2161 of file CPolyhedron.cpp.

References CreateTruncatedOctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTrapezohedron()

CPolyhedron::Ptr CPolyhedron::CreateTrapezohedron	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	basesDistance
	)

static

Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base.

The base radius controls the polyhedron height, whilst the distance between bases affects the height. When the number of edges equals 3, the polyhedron is actually a parallelepiped, and it can even be a cube.

Definition at line 773 of file CPolyhedron.cpp.

References CreateEmpty(), CreateNoCheck(), M_PI, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ CreateTriakisIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisIcosahedron ( double radius )

static

Creates a triakis icosahedron, dual to the truncated dodecahedron.

This body consists of 60 isosceles triangles http://en.wikipedia.org/wiki/Triakis_icosahedron).

See also: CreateTruncatedDodecahedron

Definition at line 2175 of file CPolyhedron.cpp.

References CreateTruncatedDodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTriakisOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisOctahedron ( double radius )

static

Creates a triakis octahedron, dual to the truncated hexahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_octahedron).

See also: CreateTruncatedHexahedron

Definition at line 2157 of file CPolyhedron.cpp.

References CreateTruncatedHexahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTriakisTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisTetrahedron ( double radius )

static

Creates a triakis tetrahedron, dual to the truncated tetrahedron.

This body consists of 12 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_tetrahedron).

See also: CreateTruncatedTetrahedron

Definition at line 2149 of file CPolyhedron.cpp.

References CreateTruncatedTetrahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTruncatedDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedDodecahedron ( double radius )

static

Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron).

The truncated dodecahedron is the dual to the triakis icosahedron.

See also: CreateDodecahedron,CreateTriakisIcosahedron

Definition at line 2130 of file CPolyhedron.cpp.

References CreateDodecahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisIcosahedron().

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◆ CreateTruncatedHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedHexahedron ( double radius )

static

Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron).

The truncated octahedron is dual to the triakis octahedron.

See also: CreateHexahedron,CreateTriakisOctahedron

Definition at line 2109 of file CPolyhedron.cpp.

References CreateHexahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisOctahedron().

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◆ CreateTruncatedIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedIcosahedron ( double radius )

static

Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons.

This object resembles a typical soccer ball (see http://en.wikipedia.org/wiki/Truncated_icosahedron). The pentakis dodecahedron is the dual to the truncated icosahedron.

See also: CreateIcosahedron,CreatePentakisDodecahedron

Definition at line 2135 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreatePentakisDodecahedron(), and CreateRandomPolyhedron().

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◆ CreateTruncatedOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedOctahedron ( double radius )

static

Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron).

It's the dual to the tetrakis hexahedron.

See also: CreateOctahedron,CreateTetrakisHexahedron

Definition at line 2114 of file CPolyhedron.cpp.

References CreateOctahedron().

Referenced by CreateRandomPolyhedron(), and CreateTetrakisHexahedron().

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◆ CreateTruncatedPyramid()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedPyramid	(	const std::vector< mrpt::math::TPoint2D > &	baseVertices,
		double	height,
		double	ratio
	)

static

Creates a truncated pyramid, using a set of vertices which will lie on the XY plane.

Do not try to use with a ratio equal to zero; use CreatePyramid instead. When using a ratio of 1, it will create a Prism.

See also: CreatePyramid,CreateBifrustum

Definition at line 620 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateCustomPrism(), CreateFrustum(), and CreateRegularTruncatedPyramid().

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◆ CreateTruncatedTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedTetrahedron ( double radius )

static

Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron).

Its dual is the triakis tetrahedron.

See also: CreateTetrahedron,CreateTriakisTetrahedron

Definition at line 2101 of file CPolyhedron.cpp.

References CreateTetrahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisTetrahedron().

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◆ CreateUnique()

template<typename... Args>

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

inlinestatic

Definition at line 45 of file CPolyhedron.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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◆ edgesInVertex()

size_t CPolyhedron::edgesInVertex ( size_t vertex ) const

private

Returns how many edges converge in a given vertex.

Definition at line 1943 of file CPolyhedron.cpp.

References mEdges.

◆ 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.

◆ facesInVertex()

size_t CPolyhedron::facesInVertex ( size_t vertex ) const

private

Returns how many faces converge in a given vertex.

Definition at line 1951 of file CPolyhedron.cpp.

References mrpt::containers::find(), and mFaces.

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◆ generateBase() [1/2]

vector< TPoint2D > CPolyhedron::generateBase	(	uint32_t	numBaseEdges,
		double	baseRadius
	)

staticprivate

Generates a list of 2D vertices constituting a regular polygon.

Definition at line 1834 of file CPolyhedron.cpp.

References M_PI.

Referenced by CreateRegularAntiprism(), CreateRegularBifrustum(), CreateRegularDoublePyramid(), CreateRegularPrism(), CreateRegularPyramid(), and CreateRegularTruncatedPyramid().

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◆ generateBase() [2/2]

void CPolyhedron::generateBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		std::vector< mrpt::math::TPoint3D > &	vec
	)

staticprivate

Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector.

Definition at line 1861 of file CPolyhedron.cpp.

References M_PI.

◆ generateShiftedBase() [1/2]

vector< TPoint2D > CPolyhedron::generateShiftedBase	(	uint32_t	numBaseEdges,
		double	baseRadius
	)

staticprivate

Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms.

Definition at line 1847 of file CPolyhedron.cpp.

References M_PI.

Referenced by CreateJohnsonSolidWithConstantBase(), and CreateRegularAntiprism().

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◆ generateShiftedBase() [2/2]

void CPolyhedron::generateShiftedBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	shift,
		std::vector< mrpt::math::TPoint3D > &	vec
	)

staticprivate

Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector.

Definition at line 1872 of file CPolyhedron.cpp.

References M_PI.

◆ getBoundingBox()

void CPolyhedron::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 2020 of file CPolyhedron.cpp.

References bb_max, bb_min, mrpt::poses::CPose3D::composePoint(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getCenter()

void CPolyhedron::getCenter ( mrpt::math::TPoint3D & center ) const

Gets the center of the polyhedron.

Definition at line 1179 of file CPolyhedron.cpp.

References mVertices, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

Referenced by augment(), cantellate(), getVolume(), and setNormal().

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◆ getClassName()

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

inlinestatic

Definition at line 45 of file CPolyhedron.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.

◆ getDual()

CPolyhedron::Ptr CPolyhedron::getDual ( ) const

Given a polyhedron, creates its dual.

See also: truncate,cantellate,augment

Exceptions

std::logic_error Can't get the dual to this polyhedron.

Definition at line 1298 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, faceContainsEdge(), getPlanesIntersection(), mEdges, mFaces, mVertices, mrpt::square(), and val.

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◆ getEdges()

void mrpt::opengl::CPolyhedron::getEdges ( std::vector< TPolyhedronEdge > & edges ) const

inline

Gets a list with the polyhedron's edges.

Definition at line 660 of file CPolyhedron.h.

◆ getEdgesLength()

void CPolyhedron::getEdgesLength ( std::vector< double > & lengths ) const

Gets a vector with each edge's length.

Definition at line 1099 of file CPolyhedron.cpp.

References mEdges, and mVertices.

◆ getFaces()

void mrpt::opengl::CPolyhedron::getFaces ( std::vector< TPolyhedronFace > & faces ) const

inline

Gets a list with the polyhedron's faces.

Definition at line 667 of file CPolyhedron.h.

◆ getFacesArea()

void CPolyhedron::getFacesArea ( std::vector< double > & areas ) const

Gets a vector with each face's area.

Won't work properly if the polygons are not convex.

Definition at line 1107 of file CPolyhedron.cpp.

References mFaces, and mVertices.

Referenced by getVolume().

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◆ getIntersection()

template<class T >

size_t mrpt::opengl::CPolyhedron::getIntersection	(	const CPolyhedron::Ptr &	p1,
		const CPolyhedron::Ptr &	p2,
		T &	container
	)

inlinestatic

Gets the intersection of two polyhedra, either as a set or as a matrix of intersections.

Each intersection is represented by a TObject3D.

See also: mrpt::math::TObject3D

Definition at line 939 of file CPolyhedron.h.

References mrpt::math::intersect().

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◆ getLineWidth()

double mrpt::opengl::CPolyhedron::getLineWidth ( ) const

inline

Gets the wireframe lines width.

Definition at line 712 of file CPolyhedron.h.

◆ 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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◆ getNumberOfEdges()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfEdges ( ) const

inline

Gets the amount of edges.

Definition at line 678 of file CPolyhedron.h.

References mVertices.

◆ getNumberOfFaces()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfFaces ( ) const

inline

Gets the amount of faces.

Definition at line 682 of file CPolyhedron.h.

References mEdges.

◆ getNumberOfVertices()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfVertices ( ) const

inline

Gets the amount of vertices.

Definition at line 674 of file CPolyhedron.h.

◆ 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::CPolyhedron::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::CPolyhedron::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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◆ getSetOfPolygons()

void CPolyhedron::getSetOfPolygons ( std::vector< math::TPolygon3D > & vec ) const

Gets the polyhedron as a set of polygons.

See also: mrpt::math::TPolygon3D

Definition at line 1135 of file CPolyhedron.cpp.

References polygonsUpToDate, tempPolygons, and updatePolygons().

Referenced by cantellate(), and makeConvexPolygons().

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◆ getSetOfPolygonsAbsolute()

void CPolyhedron::getSetOfPolygonsAbsolute ( std::vector< math::TPolygon3D > & vec ) const

Gets the polyhedron as a set of polygons, with the pose transformation already applied.

See also: mrpt::math::TPolygon3D,mrpt::poses::CPose3D

Definition at line 1143 of file CPolyhedron.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mFaces, and mVertices.

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◆ getVertices()

void mrpt::opengl::CPolyhedron::getVertices ( std::vector< mrpt::math::TPoint3D > & vertices ) const

inline

Gets a list with the polyhedron's vertices.

Definition at line 653 of file CPolyhedron.h.

◆ getVolume()

double CPolyhedron::getVolume ( ) const

Gets the polyhedron volume.

Won't work properly if the polyhedron is not convex.

Definition at line 1115 of file CPolyhedron.cpp.

References getCenter(), getFacesArea(), mFaces, polygonsUpToDate, tempPolygons, and updatePolygons().

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◆ InitFromVertAndFaces()

void mrpt::opengl::CPolyhedron::InitFromVertAndFaces	(	const std::vector< mrpt::math::TPoint3D > &	vertices,
		const std::vector< TPolyhedronFace > &	faces,
		bool	doCheck = `true`
	)

inline

Definition at line 901 of file CPolyhedron.h.

Referenced by CPolyhedron().

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◆ isClosed()

bool mrpt::opengl::CPolyhedron::isClosed ( ) const

inline

Returns true if the polygon is a completely closed object.

Definition at line 743 of file CPolyhedron.h.

◆ 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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◆ isWireframe()

bool mrpt::opengl::CPolyhedron::isWireframe ( ) const

inline

Returns whether the polyhedron will be rendered as a wireframe object.

Definition at line 700 of file CPolyhedron.h.

◆ makeConvexPolygons()

void CPolyhedron::makeConvexPolygons ( )

Recomputes polygons, if necessary, so that each one is convex.

Definition at line 1157 of file CPolyhedron.cpp.

References addEdges(), getSetOfPolygons(), getVerticesAndFaces(), mEdges, mFaces, mVertices, setNormal(), and mrpt::math::splitInConvexComponents().

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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(), 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 CPolyhedron::render_dl ( ) const

overridevirtual

Render.

See also: CRenderizable

Implements mrpt::opengl::CRenderizableDisplayList.

Definition at line 1048 of file CPolyhedron.cpp.

References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::opengl::CRenderizable::checkOpenGLError(), mrpt::img::TColor::G, GL_BLEND, GL_LIGHTING, GL_LINES, GL_ONE_MINUS_SRC_ALPHA, GL_POLYGON, GL_SRC_ALPHA, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glEnable(), glEnd(), glLineWidth(), glNormal3f(), glVertex3f(), mrpt::opengl::CRenderizable::m_color, mEdges, mFaces, mLineWidth, mVertices, mWireframe, and mrpt::img::TColor::R.

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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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◆ rotate()

CPolyhedron::Ptr CPolyhedron::rotate ( double angle ) const

Rotates a polyhedron around the Z axis a given amount of radians.

In some cases, this operation may be necessary to view the symmetry between related objects.

See also: scale

Definition at line 1807 of file CPolyhedron.cpp.

References CreateNoCheck(), mFaces, mVertices, and A::x.

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◆ scale()

CPolyhedron::Ptr CPolyhedron::scale ( double factor ) const

Scales a polyhedron to a given factor.

Exceptions

std::logic_error factor is not a strictly positive number.

See also: rotate

Definition at line 1821 of file CPolyhedron.cpp.

References CreateNoCheck(), mFaces, and mVertices.

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◆ serializeFrom() [1/2]

void CPolyhedron::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 1997 of file CPolyhedron.cpp.

References addEdges(), checkConsistence(), mFaces, mLineWidth, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mVertices, mWireframe, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), and setNormal().

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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 CPolyhedron::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 1989 of file CPolyhedron.cpp.

◆ serializeTo() [1/2]

void CPolyhedron::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 1990 of file CPolyhedron.cpp.

References mFaces, mLineWidth, mVertices, mWireframe, and mrpt::opengl::CRenderizable::writeToStreamRender().

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◆ 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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◆ setLineWidth()

void mrpt::opengl::CPolyhedron::setLineWidth ( double lineWidth )

inline

Sets the width used to render lines, when wireframe rendering is activated.

Definition at line 717 of file CPolyhedron.h.

References mLineWidth.

◆ 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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◆ 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.

◆ setNormal()

bool CPolyhedron::setNormal	(	TPolyhedronFace &	f,
		bool	doCheck = `true`
	)

private

Calculates the normal vector to a face.

Definition at line 1892 of file CPolyhedron.cpp.

References getCenter(), mrpt::math::TPlane::getNormalVector(), mrpt::math::TPolygon3D::getPlane(), mVertices, mrpt::opengl::CPolyhedron::TPolyhedronFace::normal, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by makeConvexPolygons(), and serializeFrom().

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◆ 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.

◆ 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.

◆ setWireframe()

void mrpt::opengl::CPolyhedron::setWireframe ( bool enabled = true )

inline

Sets whether the polyhedron will be rendered as a wireframe object.

Definition at line 704 of file CPolyhedron.h.

References mWireframe.

◆ 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 CPolyhedron::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const

overridevirtual

Ray trace.

See also: CRenderizable

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 1093 of file CPolyhedron.cpp.

References mrpt::opengl::CRenderizable::m_pose, polygonsUpToDate, tempPolygons, mrpt::math::traceRay(), and updatePolygons().

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◆ truncate()

CPolyhedron::Ptr CPolyhedron::truncate ( double factor ) const

Truncates a polyhedron to a given factor.

See also: getDual,cantellate,augment

Exceptions

std::logic_error Polyhedron truncation results in skew polygons and thus it's impossible to perform.

Definition at line 1374 of file CPolyhedron.cpp.

References CreateEmpty(), CreateNoCheck(), mEdges, mFaces, mVertices, searchForEdge(), searchForFace(), THROW_EXCEPTION, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, and mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2.

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◆ updatePolygons()

void CPolyhedron::updatePolygons ( ) const

Updates the mutable list of polygons used in rendering and ray tracing.

Definition at line 1883 of file CPolyhedron.cpp.

References mFaces, mVertices, polygonsUpToDate, and tempPolygons.

Referenced by getSetOfPolygons(), getVolume(), and traceRay().

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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(), serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().

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Member Data Documentation

◆ _init_CPolyhedron

mrpt::rtti::CLASSINIT mrpt::opengl::CPolyhedron::_init_CPolyhedron

staticprotected

Definition at line 45 of file CPolyhedron.h.

◆ className

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

static

Definition at line 45 of file CPolyhedron.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_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_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().

◆ mEdges

std::vector<TPolyhedronEdge> mrpt::opengl::CPolyhedron::mEdges

protected

List of polyhedron's edges.

Definition at line 110 of file CPolyhedron.h.

Referenced by addEdges(), cantellate(), edgesInVertex(), getDual(), getEdgesLength(), getNumberOfFaces(), makeConvexPolygons(), render_dl(), and truncate().

◆ mFaces

std::vector<TPolyhedronFace> mrpt::opengl::CPolyhedron::mFaces

protected

List of polyhedron's faces.

Definition at line 114 of file CPolyhedron.h.

Referenced by augment(), cantellate(), CPolyhedron(), facesInVertex(), getDual(), getFacesArea(), getSetOfPolygonsAbsolute(), getVolume(), makeConvexPolygons(), render_dl(), rotate(), scale(), serializeFrom(), serializeTo(), truncate(), and updatePolygons().

◆ mLineWidth

double mrpt::opengl::CPolyhedron::mLineWidth {1}

protected

When displaying as wireframe object, this variable stores the width of the edges.

Definition at line 124 of file CPolyhedron.h.

Referenced by render_dl(), serializeFrom(), serializeTo(), and setLineWidth().

◆ mVertices

std::vector<mrpt::math::TPoint3D> mrpt::opengl::CPolyhedron::mVertices

protected

List of vertices presents in the polyhedron.

Definition at line 106 of file CPolyhedron.h.

Referenced by augment(), cantellate(), CPolyhedron(), getCenter(), getDual(), getEdgesLength(), getFacesArea(), getNumberOfEdges(), getSetOfPolygonsAbsolute(), makeConvexPolygons(), render_dl(), rotate(), scale(), serializeFrom(), serializeTo(), setNormal(), truncate(), and updatePolygons().

◆ mWireframe

bool mrpt::opengl::CPolyhedron::mWireframe {false}

protected

This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges.

Definition at line 119 of file CPolyhedron.h.

Referenced by render_dl(), serializeFrom(), serializeTo(), and setWireframe().

◆ polygonsUpToDate

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

mutableprotected

Whether the set of actual polygons is up to date or not.

Definition at line 132 of file CPolyhedron.h.

Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CPolyhedron::runtimeClassId

staticprotected

Definition at line 45 of file CPolyhedron.h.

◆ tempPolygons

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CPolyhedron::tempPolygons

mutableprotected

Mutable list of actual polygons, maintained for speed.

Definition at line 128 of file CPolyhedron.h.

Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().

Detailed Description

Classes

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Private Member Functions

Static Private Member Functions

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ ConstUniquePtr

◆ Ptr

◆ UniquePtr

Constructor & Destructor Documentation

◆ CPolyhedron() [1/4]

◆ CPolyhedron() [2/4]

◆ CPolyhedron() [3/4]

◆ CPolyhedron() [4/4]

◆ ~CPolyhedron()

Member Function Documentation

◆ _GetBaseClass()

◆ addEdges()

◆ augment() [1/4]

◆ augment() [2/4]

◆ augment() [3/4]

◆ augment() [4/4]

◆ cantellate()

◆ checkConsistence()

◆ checkOpenGLError()

◆ clone()

◆ Create()

◆ CreateAlloc()

◆ CreateArchimedeanRegularAntiprism()

◆ CreateArchimedeanRegularPrism()

◆ CreateBifrustum()

◆ CreateCatalanDoublePyramid()

◆ CreateCatalanTrapezohedron()

◆ CreateCubicPrism() [1/2]

◆ CreateCubicPrism() [2/2]

◆ CreateCuboctahedron()

◆ CreateCupola()

◆ CreateCustomAntiprism()

◆ CreateCustomPrism()

◆ CreateDeltoidalHexecontahedron()

◆ CreateDeltoidalIcositetrahedron()

◆ CreateDodecahedron()

◆ CreateDoublePyramid()

◆ CreateEmpty()

◆ CreateFrustum()

◆ CreateHexahedron()

◆ CreateIcosahedron()

◆ CreateIcosidodecahedron()

◆ CreateJohnsonSolidWithConstantBase()

◆ CreateNoCheck()

◆ CreateObject()

◆ CreateOctahedron()

◆ CreateParallelepiped()

◆ CreatePentagonalRotunda()

◆ CreatePentakisDodecahedron()

◆ CreatePyramid()

◆ CreateRandomPolyhedron()

◆ CreateRegularAntiprism()

◆ CreateRegularBifrustum()

◆ CreateRegularDoublePyramid()

◆ CreateRegularFrustum()

◆ CreateRegularPrism()

◆ CreateRegularPyramid()

◆ CreateRegularTruncatedPyramid()

◆ CreateRhombicDodecahedron()

◆ CreateRhombicosidodecahedron()

◆ CreateRhombicTriacontahedron()

◆ CreateRhombicuboctahedron()

◆ CreateTetrahedron()

◆ CreateTetrakisHexahedron()

◆ CreateTrapezohedron()

◆ CreateTriakisIcosahedron()

◆ CreateTriakisOctahedron()

◆ CreateTriakisTetrahedron()