class mrpt::opengl::CTexturedPlane

Overview

A 2D plane in the XY plane with a texture image.

Lighting is disabled by default in this class, so the plane color or texture will be independent of its orientation or shadows cast on it. This can be changed calling enableLighting(true)

See also:

opengl::Scene

#include <mrpt/opengl/CTexturedPlane.h>

class CTexturedPlane:
    public mrpt::opengl::CRenderizableShaderTexturedTriangles,
    public mrpt::opengl::CRenderizableShaderTriangles
{
public:
    // construction

    CTexturedPlane(
        float x_min = -1,
        float x_max = 1,
        float y_min = -1,
        float y_max = 1
        );

    // methods

    virtual void render(const RenderContext& rc) const;
    virtual void renderUpdateBuffers() const;
    virtual void onUpdateBuffers_TexturedTriangles();
    virtual void onUpdateBuffers_Triangles();
    virtual shader_list_t requiredShaders() const;
    virtual void freeOpenGLResources();
    void cullFaces(const TCullFace& cf);
    TCullFace cullFaces() const;
    const auto& shaderTexturedTrianglesBuffer() const;
    auto& shaderTexturedTrianglesBufferMutex() const;
    void setPlaneCorners(float xMin, float xMax, float yMin, float yMax);
    void getPlaneCorners(float& xMin, float& xMax, float& yMin, float& yMax) const;
    void enableLighting(bool enable = true);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    const mrpt::img::CImage& getTextureImage() const;
    const mrpt::img::CImage& getTextureAlphaImage() const;
    bool textureImageHasBeenAssigned() const;
    bool textureLinearInterpolation() const;
    void enableTextureMipMap(bool enable);
    bool textureMipMap() const;
};

Inherited Members

public:
    // structs

    struct OutdatedState;
    struct RenderContext;
    struct State;

    // methods

    virtual void render(const RenderContext& rc) const = 0;
    virtual void renderUpdateBuffers() const = 0;
    virtual shader_list_t requiredShaders() const;
    virtual void freeOpenGLResources() = 0;
    virtual shader_list_t requiredShaders() const;
    virtual void render(const RenderContext& rc) const;
    virtual void renderUpdateBuffers() const;
    virtual void onUpdateBuffers_TexturedTriangles() = 0;
    virtual void freeOpenGLResources();
    void assignImage(const mrpt::img::CImage& img);
    virtual void onUpdateBuffers_Triangles() = 0;

Methods

virtual void render(const RenderContext& rc) const

Implements the rendering of 3D objects in each class derived from CRenderizable.

This can be called more than once (one per required shader program) if the object registered several shaders.

See also:

renderUpdateBuffers

virtual void renderUpdateBuffers() const

Called whenever m_outdatedBuffers is true: used to re-generate OpenGL vertex buffers, etc.

before they are sent for rendering in render()

virtual void onUpdateBuffers_TexturedTriangles()

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

virtual void onUpdateBuffers_Triangles()

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

virtual shader_list_t requiredShaders() const

Returns the ID of the OpenGL shader program required to render this class.

See also:

DefaultShaderID

virtual void freeOpenGLResources()

Free opengl buffers.

void cullFaces(const TCullFace& cf)

Control whether to render the FRONT, BACK, or BOTH (default) set of faces.

Refer to docs for glCullFace()

void setPlaneCorners(float xMin, float xMax, float yMin, float yMax)

Set the coordinates of the four corners that define the plane on the XY plane.

void getPlaneCorners(float& xMin, float& xMax, float& yMin, float& yMax) const

Get the coordinates of the four corners that define the plane on the XY plane.

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

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in “dist”), or false in other case. “dist” variable yields undefined behaviour when false is returned

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.

This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.