class mrpt::opengl::CSetOfTriangles¶

A set of colored triangles, able to draw any solid, arbitrarily complex object without textures.

For textures, see CSetOfTexturedTriangles

#include <mrpt/opengl/CSetOfTriangles.h>

class CSetOfTriangles: public mrpt::opengl::CRenderizableShaderTriangles
{
public:
    // typedefs

    typedef std::vector<TTriangle>::const_iterator const_iterator;
    typedef std::vector<TTriangle>::const_reverse_iterator const_reverse_iterator;

    //
methods

    virtual void onUpdateBuffers_Triangles();
    void updatePolygons() const;
    void clearTriangles();
    size_t getTrianglesCount() const;
    void getTriangle(size_t idx, TTriangle& t) const;
    void insertTriangle(const TTriangle& t);

    template <class InputIterator>
    void insertTriangles(
        const InputIterator& begin,
        const InputIterator& end
        );

    void insertTriangles(const CSetOfTriangles::Ptr& p);
    void reserve(size_t t);
    virtual CRenderizable& setColor_u8(const mrpt::img::TColor& c);
    virtual CRenderizable& setColorR_u8(const uint8_t r);
    virtual CRenderizable& setColorG_u8(const uint8_t g);
    virtual CRenderizable& setColorB_u8(const uint8_t b);
    virtual CRenderizable& setColorA_u8(const uint8_t a);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    void getPolygons(std::vector<mrpt::math::TPolygon3D>& polys) const;

    template <class CONTAINER>
    void insertTriangles(const CONTAINER& c);

    const_iterator begin() const;
    const_iterator end() const;
    const_reverse_iterator rbegin() const;
    const_reverse_iterator rend() const;
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const;
};

Inherited Members¶

public:
    // structs

    struct RenderContext;

    //
methods

    virtual void render(const RenderContext& rc) const = 0;
    virtual void renderUpdateBuffers() const = 0;
    virtual shader_list_t requiredShaders() const;
    virtual void getBoundingBox(mrpt::math::TPoint3D& bb_min, mrpt::math::TPoint3D& bb_max) const = 0;
    virtual void freeOpenGLResources() = 0;
    virtual void onUpdateBuffers_Triangles() = 0;

Methods¶

virtual void onUpdateBuffers_Triangles()

Must be implemented in derived classes to update the geometric entities to be drawn in “m_*_buffer” fields.

void updatePolygons() const

Explicitly updates the internal polygon cache, with all triangles as polygons.

See also:

getPolygons()

void clearTriangles()

Clear this object, removing all triangles.

size_t getTrianglesCount() const

Get triangle count.

void getTriangle(size_t idx, TTriangle& t) const

Gets the i-th triangle.

void insertTriangle(const TTriangle& t)

Inserts a triangle into the set.

template <class InputIterator>
void insertTriangles(
    const InputIterator& begin,
    const InputIterator& end
    )

Inserts a set of triangles, bounded by iterators, into this set.

See also:

insertTriangle

void insertTriangles(const CSetOfTriangles::Ptr& p)

Inserts an existing CSetOfTriangles into this one.

void reserve(size_t t)

Reserves memory for certain number of triangles, avoiding multiple memory allocation calls.

virtual CRenderizable& setColor_u8(const mrpt::img::TColor& c)