class mrpt::opengl::CSphere

Overview

A solid or wire-frame sphere.

See also:

opengl::Scene

#include <mrpt/opengl/CSphere.h>

class CSphere: public mrpt::opengl::CGeneralizedEllipsoidTemplate
{
public:
    // typedefs

    typedef mrpt::math::CMatrixFixed<float, DIM, 1> array_parameter_t;
    typedef mrpt::math::CMatrixFixed<float, DIM, 1> array_point_t;

    // construction

    CSphere(float radius = 1.0f, int nDivs = 20);

    // methods

    virtual void renderUpdateBuffers() const;
    void setRadius(float r);
    float getRadius() const;
    void setNumberDivs(int N);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    uint32_t getNumberOfSegments() const;
    bool isAntiAliasingEnabled() 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 void onUpdateBuffers_Triangles() = 0;
    virtual void onUpdateBuffers_Wireframe() = 0;

Construction

CSphere(float radius = 1.0f, int nDivs = 20)

Constructor.

Methods

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 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.