31 #if MRPT_HAS_OPENGL_GLUT 33 if (m_enableTransparency)
50 for (it = m_triangles.begin(); it != m_triangles.end(); ++it)
54 float ax = it->x[1] - it->x[0];
55 float ay = it->y[1] - it->y[0];
56 float az = it->z[1] - it->z[0];
58 float bx = it->x[2] - it->x[0];
59 float by = it->y[2] - it->y[0];
60 float bz = it->z[2] - it->z[0];
64 glColor4f(it->r[0], it->g[0], it->b[0], it->a[0]);
67 glColor4f(it->r[1], it->g[1], it->b[1], it->a[1]);
70 glColor4f(it->r[2], it->g[2], it->b[2], it->a[2]);
117 writeToStreamRender(out);
120 for (
size_t i = 0; i <
n; i++)
124 out << m_enableTransparency;
139 readFromStreamRender(
in);
143 for (
size_t i = 0; i <
n; i++)
147 in >> m_enableTransparency;
149 m_enableTransparency =
true;
155 polygonsUpToDate =
false;
162 if (!polygonsUpToDate) updatePolygons();
302 it != m_triangles.end(); ++it)
303 for (
size_t i = 0; i < 3; i++)
317 const float col =
r / 255.f;
319 it != m_triangles.end(); ++it)
320 for (
size_t i = 0; i < 3; i++) it->r[i] = col;
328 const float col =
g / 255.f;
330 it != m_triangles.end(); ++it)
331 for (
size_t i = 0; i < 3; i++) it->g[i] = col;
339 const float col =
b / 255.f;
341 it != m_triangles.end(); ++it)
342 for (
size_t i = 0; i < 3; i++) it->b[i] = col;
350 const float col =
a / 255.f;
352 it != m_triangles.end(); ++it)
353 for (
size_t i = 0; i < 3; i++) it->a[i] = col;
358 std::vector<mrpt::math::TPolygon3D>& polys)
const 360 if (!polygonsUpToDate) updatePolygons();
361 size_t N = tmpPolygons.size();
362 for (
size_t i = 0; i < N; i++) polys[i] = tmpPolygons[i].poly;
368 size_t N = m_triangles.size();
369 tmpPolygons.resize(N);
370 for (
size_t i = 0; i < N; i++)
371 for (
size_t j = 0; j < 3; j++)
377 tmpPolygons[i] = tmp;
379 polygonsUpToDate =
true;
387 std::numeric_limits<double>::max(), std::numeric_limits<double>::max(),
388 std::numeric_limits<double>::max());
390 -std::numeric_limits<double>::max(),
391 -std::numeric_limits<double>::max(),
392 -std::numeric_limits<double>::max());
394 for (
size_t i = 0; i < m_triangles.size(); i++)
421 m_pose.composePoint(bb_min, bb_min);
422 m_pose.composePoint(bb_max, bb_max);
427 reserve(m_triangles.size() +
p->m_triangles.size());
429 m_triangles.end(),
p->m_triangles.begin(),
p->m_triangles.end());
430 polygonsUpToDate =
false;
Classes for serialization, sockets, ini-file manipulation, streams, list of properties-values, timewatch, extensions to STL.
CRenderizable & setColorG_u8(const uint8_t g) override
Color components in the range [0,255].
bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const override
Ray tracing.
GLAPI void GLAPIENTRY glEnable(GLenum cap)
void getPolygons(std::vector< mrpt::math::TPolygon3D > &polys) const
Gets the polygon cache.
#define IMPLEMENTS_SERIALIZABLE(class_name, base, NameSpace)
This must be inserted in all CSerializable classes implementation files.
bool traceRay(const std::vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
GLAPI void GLAPIENTRY glNormal3f(GLfloat nx, GLfloat ny, GLfloat nz)
The base class of 3D objects that can be directly rendered through OpenGL.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
const Scalar * const_iterator
#define GL_ONE_MINUS_SRC_ALPHA
std::shared_ptr< CSetOfTriangles > Ptr
static void triangle_readFromStream(mrpt::utils::CStream &i, CSetOfTriangles::TTriangle &t)
CRenderizable & setColorR_u8(const uint8_t r) override
Color components in the range [0,255].
GLAPI void GLAPIENTRY glBlendFunc(GLenum sfactor, GLenum dfactor)
A renderizable object suitable for rendering with OpenGL's display lists.
void WriteBufferFixEndianness(const T *ptr, size_t ElementCount)
Writes a sequence of elemental datatypes, taking care of reordering their bytes from the running arch...
static void triangle_writeToStream(mrpt::utils::CStream &o, const CSetOfTriangles::TTriangle &t)
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
This base provides a set of functions for maths stuff.
#define MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION(__V)
For use in CSerializable implementations.
void writeToStream(mrpt::utils::CStream &out, int *getVersion) const override
Introduces a pure virtual method responsible for writing to a CStream.
CRenderizable & setColor_u8(const mrpt::utils::TColor &c) override
Changes the default object color.
double x
X,Y,Z coordinates.
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 th...
GLAPI void GLAPIENTRY glBegin(GLenum mode)
void keep_max(T &var, const K test_val)
If the second argument is above the first one, set the first argument to this higher value...
Classes for 2D/3D geometry representation, both of single values and probability density distribution...
GLAPI void GLAPIENTRY glVertex3f(GLfloat x, GLfloat y, GLfloat z)
void updatePolygons() const
Polygon cache updating.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
GLdouble GLdouble GLdouble r
void keep_min(T &var, const K test_val)
If the second argument is below the first one, set the first argument to this lower value...
size_t ReadBufferFixEndianness(T *ptr, size_t ElementCount)
Reads a sequence of elemental datatypes, taking care of reordering their bytes from the MRPT stream s...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
The namespace for 3D scene representation and rendering.
A RGB color - floats in the range [0,1].
GLAPI void GLAPIENTRY glEnd(void)
A set of colored triangles.
typedef void(APIENTRYP PFNGLBLENDCOLORPROC)(GLclampf red
GLAPI void GLAPIENTRY glColor4f(GLfloat red, GLfloat green, GLfloat blue, GLfloat alpha)
void readFromStream(mrpt::utils::CStream &in, int version) override
Introduces a pure virtual method responsible for loading from a CStream This can not be used directly...
unsigned __int32 uint32_t
GLAPI void GLAPIENTRY glDisable(GLenum cap)
CRenderizable & setColorB_u8(const uint8_t b) override
Color components in the range [0,255].
GLubyte GLubyte GLubyte a
CRenderizable & setColorA_u8(const uint8_t a) override
Color components in the range [0,255].
void insertTriangles(const InputIterator &begin, const InputIterator &end)
Inserts a set of triangles, bounded by iterators, into this set.
3D polygon, inheriting from std::vector<TPoint3D>