Detailed Description

The base class of 3D objects that can be directly rendered through OpenGL.

In this class there are a set of common properties to all 3D objects, mainly:

A name (m_name): A name that can be optionally asigned to objects for easing its reference.
6D coordinates (x,y,z,yaw,pitch,roll), relative to the "current" reference framework. By default, any object is referenced to global scene coordinates.
A RGB color: This field will be used in simple elements (points, lines, text,...) but is ignored in more complex objects that carry their own color information (triangle sets,...) See the main class opengl::COpenGLScene
See also
opengl::COpenGLScene, mrpt::opengl

Definition at line 43 of file CRenderizable.h.

#include <mrpt/opengl/CRenderizable.h>

Inheritance diagram for mrpt::opengl::CRenderizable:

Public Member Functions
	CRenderizable ()
	Default constructor: More...

virtual	~CRenderizable ()

virtual void	render () const =0
	Implements the rendering of 3D objects in each class derived from CRenderizable. More...

virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Simulation of ray-trace, given a pose. More...

virtual void	getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const =0
	Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent. 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...

virtual CObject *	clone () const =0
	Returns a deep copy (clone) of the object, indepently of its class. 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...

virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255]. More...

virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255]. 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::utils::TColorf	getColor () const
	Returns the object color property as a TColorf. More...

CRenderizable &	setColor (const mrpt::utils::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::utils::TColor &	getColor_u8 () const
	Returns the object color property as a TColor. More...

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

CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-255) More...

RTTI classes and functions
mrpt::utils::CObject::Ptr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More...

Static Public Member Functions
static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from 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...

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...

Protected Member Functions
void	writeToStreamRender (utils::CStream &out) const

void	readFromStreamRender (utils::CStream &in)

virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream. More...

virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori. 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::string	m_name

bool	m_show_name

mrpt::utils::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
	Scale components to apply to the object (default=1) More...

float	m_scale_y

float	m_scale_z

bool	m_visible
	Is the object visible? (default=true) More...

Friends
class	mrpt::opengl::COpenGLViewport

class	mrpt::opengl::CSetOfObjects

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

using	ConstPtr = std::shared_ptr< const CRenderizable >

static const mrpt::utils::TRuntimeClassId	runtimeClassId

class	mrpt::utils::CStream

static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()

virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const override
	Returns information about the class of an object in runtime. More...

static const mrpt::utils::TRuntimeClassId &	GetRuntimeClassIdStatic ()

Member Typedef Documentation

◆ ConstPtr

using mrpt::opengl::CRenderizable::ConstPtr = std::shared_ptr<const CRenderizable >

Definition at line 45 of file CRenderizable.h.

◆ Ptr

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

Definition at line 45 of file CRenderizable.h.

Constructor & Destructor Documentation

◆ CRenderizable()

CRenderizable::CRenderizable ( )

Default constructor:

Definition at line 57 of file CRenderizable.cpp.

◆ ~CRenderizable()

CRenderizable::~CRenderizable ( )

virtual

Definition at line 70 of file CRenderizable.cpp.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CRenderizable::_GetBaseClass ( )

staticprotected

◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )

staticprotected

Checks glGetError and throws an exception if an error situation is found.

Definition at line 302 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::checkOpenGLError().

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◆ clone()

virtual CObject* mrpt::utils::CObject::clone ( ) const

pure virtualinherited

Returns a deep copy (clone) of the object, indepently of its class.

Referenced by mrpt::utils::CObject::duplicateGetSmartPtr(), mrpt::maps::CSimpleMap::insert(), mrpt::obs::CActionCollection::insert(), and mrpt::poses::CPoseRandomSampler::setPosePDF().

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◆ enableShowName()

void mrpt::opengl::CRenderizable::enableShowName ( bool showName = true )

inline

Enables or disables showing the name of the object as a label when rendering.

Definition at line 85 of file CRenderizable.h.

References m_show_name.

◆ getBoundingBox()

virtual void mrpt::opengl::CRenderizable::getBoundingBox	(	mrpt::math::TPoint3D &	bb_min,
		mrpt::math::TPoint3D &	bb_max
	)		const

pure virtual

Evaluates the bounding box of this object (including possible children) in the coordinate frame of the object parent.

Implemented in mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CVectorField3D, mrpt::opengl::COctoMapVoxels, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CSetOfLines, mrpt::opengl::CVectorField2D, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CMeshFast, mrpt::opengl::CMesh3D, mrpt::opengl::CCylinder, mrpt::opengl::CEllipsoid, mrpt::opengl::CPolyhedron, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CPointCloud, mrpt::opengl::CCamera, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CText3D, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CArrow, mrpt::opengl::CTexturedPlane, mrpt::opengl::CSimpleLine, mrpt::opengl::CSphere, mrpt::opengl::CColorBar, mrpt::opengl::CAxis, mrpt::opengl::CBox, mrpt::opengl::CDisk, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CText, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CAssimpModel, and mrpt::opengl::C3DSScene.

◆ getColor()

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const

inline

Returns the object color property as a TColorf.

Definition at line 243 of file CRenderizable.h.

References m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const

inline

Returns the object color property as a TColor.

Definition at line 263 of file CRenderizable.h.

References m_color.

◆ getColorA()

double mrpt::opengl::CRenderizable::getColorA ( ) const

inline

Color components in the range [0,1].

Definition at line 166 of file CRenderizable.h.

References mrpt::utils::TColor::A, and m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorA_u8()

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const

inline

Color components in the range [0,255].

Definition at line 174 of file CRenderizable.h.

References mrpt::utils::TColor::A, and m_color.

◆ getColorB()

double mrpt::opengl::CRenderizable::getColorB ( ) const

inline

Color components in the range [0,1].

Definition at line 164 of file CRenderizable.h.

References mrpt::utils::TColor::B, and m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorB_u8()

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const

inline

Color components in the range [0,255].

Definition at line 172 of file CRenderizable.h.

References mrpt::utils::TColor::B, and m_color.

◆ getColorG()

double mrpt::opengl::CRenderizable::getColorG ( ) const

inline

Color components in the range [0,1].

Definition at line 162 of file CRenderizable.h.

References mrpt::utils::TColor::G, and m_color.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorG_u8()

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const

inline

Color components in the range [0,255].

Definition at line 170 of file CRenderizable.h.

References mrpt::utils::TColor::G, and m_color.

◆ getColorR()

double mrpt::opengl::CRenderizable::getColorR ( ) const

inline

Color components in the range [0,1].

Definition at line 160 of file CRenderizable.h.

References m_color, and mrpt::utils::TColor::R.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getColorR_u8()

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const

inline

Color components in the range [0,255].

Definition at line 168 of file CRenderizable.h.

References m_color, and mrpt::utils::TColor::R.

◆ getName()

const std::string& mrpt::opengl::CRenderizable::getName ( ) const

inline

Returns the name of the object.

Definition at line 70 of file CRenderizable.h.

References m_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )

staticprotected

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 73 of file CRenderizable.cpp.

References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.

Referenced by mrpt::opengl::CTexturedObject::loadTextureInOpenGL().

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◆ getPose()

mrpt::math::TPose3D CRenderizable::getPose ( ) const

Returns the 3D pose of the object as TPose3D.

Definition at line 347 of file CRenderizable.cpp.

References m_pose.

◆ getPosePitch()

double mrpt::opengl::CRenderizable::getPosePitch ( ) const

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 144 of file CRenderizable.h.

References m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::mrpt::utils::RAD2DEG().

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◆ getPosePitchRad()

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 156 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::pitch().

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◆ getPoseRef()

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const

inline

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 111 of file CRenderizable.h.

References m_pose.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getPoseRoll()

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 149 of file CRenderizable.h.

References m_pose, mrpt::mrpt::utils::RAD2DEG(), and mrpt::poses::CPose3D::roll().

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◆ getPoseRollRad()

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 158 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::roll().

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◆ getPoseX()

double mrpt::opengl::CRenderizable::getPoseX ( ) const

inline

Translation relative to parent coordinate origin.

Definition at line 133 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x().

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◆ getPoseY()

double mrpt::opengl::CRenderizable::getPoseY ( ) const

inline

Translation relative to parent coordinate origin.

Definition at line 135 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ getPoseYaw()

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const

inline

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 139 of file CRenderizable.h.

References m_pose, mrpt::mrpt::utils::RAD2DEG(), and mrpt::poses::CPose3D::yaw().

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◆ getPoseYawRad()

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const

inline

Rotation relative to parent coordinate origin, in radians.

Definition at line 154 of file CRenderizable.h.

References m_pose, and mrpt::poses::CPose3D::yaw().

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◆ getPoseZ()

double mrpt::opengl::CRenderizable::getPoseZ ( ) const

inline

Translation relative to parent coordinate origin.

Definition at line 137 of file CRenderizable.h.

References m_pose.

◆ GetRuntimeClass()

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CRenderizable::GetRuntimeClass ( ) const

overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::utils::CSerializable.

Reimplemented in mrpt::opengl::COctoMapVoxels, mrpt::opengl::CPlanarLaserScan, mrpt::opengl::CFrustum, mrpt::opengl::CEllipsoidInverseDepth3D, mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CEllipsoid, mrpt::opengl::CEllipsoidInverseDepth2D, mrpt::opengl::CText3D, mrpt::opengl::CVectorField3D, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CEllipsoidRangeBearing2D, mrpt::opengl::CPolyhedron, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CMeshFast, mrpt::opengl::CMesh, mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CMesh3D, mrpt::opengl::CText, mrpt::opengl::CColorBar, mrpt::opengl::CVectorField2D, mrpt::opengl::CSetOfLines, mrpt::opengl::CDisk, mrpt::opengl::CCamera, mrpt::opengl::CCylinder, mrpt::opengl::CGridPlaneXY, mrpt::opengl::CGridPlaneXZ, mrpt::opengl::CArrow, mrpt::opengl::CAxis, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CSphere, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::C3DSScene, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CTexturedObject, mrpt::opengl::CSimpleLine, and mrpt::opengl::CTexturedPlane.

Referenced by mrpt::opengl::COpenGLViewport::render().

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◆ GetRuntimeClassIdStatic()

static const mrpt::utils::TRuntimeClassId& mrpt::opengl::CRenderizable::GetRuntimeClassIdStatic ( )

static

◆ getScaleX()

float mrpt::opengl::CRenderizable::getScaleX ( ) const

inline

Get the current scaling factor in one axis.

Definition at line 237 of file CRenderizable.h.

References m_scale_x.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleY()

float mrpt::opengl::CRenderizable::getScaleY ( ) const

inline

Get the current scaling factor in one axis.

Definition at line 239 of file CRenderizable.h.

References m_scale_y.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ getScaleZ()

float mrpt::opengl::CRenderizable::getScaleZ ( ) const

inline

Get the current scaling factor in one axis.

Definition at line 241 of file CRenderizable.h.

References m_scale_z.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const

inline

See also: enableShowName

Definition at line 87 of file CRenderizable.h.

References m_show_name.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ isVisible()

bool mrpt::opengl::CRenderizable::isVisible ( ) const

inline

Is the object visible?

See also: setVisibility

Definition at line 71 of file CRenderizable.h.

References m_visible.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ readFromStream()

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)

protectedpure virtualinherited

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

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 error, see CStream::ReadBuffer

See also: CStream

◆ readFromStreamRender()

void CRenderizable::readFromStreamRender ( utils::CStream & in )

protected

Definition at line 165 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColorf::A, mrpt::utils::TColor::B, mrpt::utils::TColorf::B, DEG2RAD, mrpt::utils::TColor::G, mrpt::utils::TColorf::G, m_color, m_name, m_pose, m_scale_x, m_scale_y, m_scale_z, m_show_name, m_visible, mrpt::obs::gnss::pitch, mrpt::utils::TColor::R, mrpt::utils::TColorf::R, mrpt::obs::gnss::roll, mrpt::poses::CPose3D::setYawPitchRoll(), THROW_EXCEPTION_FMT, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::opengl::CRenderizableDisplayList::readFromStreamRender().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int i )

staticprotected

Definition at line 101 of file CRenderizable.cpp.

References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.

Referenced by mrpt::opengl::CTexturedObject::unloadTexture().

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◆ render()

virtual void mrpt::opengl::CRenderizable::render ( ) const

pure virtual

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

Implemented in mrpt::opengl::CPointCloud, mrpt::opengl::CPointCloudColoured, mrpt::opengl::CCamera, mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CText.

Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().

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◆ renderTextBitmap() [1/2]

void CRenderizable::renderTextBitmap	(	const char *	str,
		void *	fontStyle
	)

static

This method is safe for calling from within ::render() methods.

See also: renderTextBitmap, mrpt::opengl::gl_utils; renderTextBitmap

Definition at line 380 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`
	)

static

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 315 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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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c )

inline

Changes the default object color.

Returns: a ref to this

Definition at line 248 of file CRenderizable.h.

References 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`
	)

inline

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns: a ref to this

Definition at line 257 of file CRenderizable.h.

References R, and setColor_u8().

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◆ setColor_u8() [1/2]

CRenderizable & CRenderizable::setColor_u8 ( const mrpt::utils::TColor & c )

virtual

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CRenderizableDisplayList, and mrpt::opengl::CSetOfObjects.

Definition at line 369 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::utils::TColor::G, m_color, and mrpt::utils::TColor::R.

Referenced by setColor(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), setColor_u8(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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◆ setColor_u8() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8	(	uint8_t	R,
		uint8_t	G,
		uint8_t	B,
		uint8_t	A = `255`
	)

inline

Set the color components of this object (R,G,B,Alpha, in the range 0-255)

Returns: a ref to this

Definition at line 269 of file CRenderizable.h.

References R, and setColor_u8().

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◆ setColorA()

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double a )

inline

Color components in the range [0,1].

Returns: a ref to this

Definition at line 191 of file CRenderizable.h.

References setColorA_u8().

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◆ setColorA_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorA_u8 ( const uint8_t a )

inlinevirtual

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 214 of file CRenderizable.h.

References mrpt::utils::TColor::A, and m_color.

Referenced by setColorA(), and mrpt::opengl::CSetOfObjects::setColorA_u8().

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◆ setColorB()

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double b )

inline

Color components in the range [0,1].

Returns: a ref to this

Definition at line 186 of file CRenderizable.h.

References setColorB_u8().

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◆ setColorB_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorB_u8 ( const uint8_t b )

inlinevirtual

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 208 of file CRenderizable.h.

References mrpt::utils::TColor::B, and m_color.

Referenced by setColorB(), and mrpt::opengl::CSetOfObjects::setColorB_u8().

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◆ setColorG()

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double g )

inline

Color components in the range [0,1].

Returns: a ref to this

Definition at line 181 of file CRenderizable.h.

References setColorG_u8().

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◆ setColorG_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorG_u8 ( const uint8_t g )

inlinevirtual

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 202 of file CRenderizable.h.

References mrpt::utils::TColor::G, and m_color.

Referenced by setColorG(), and mrpt::opengl::CSetOfObjects::setColorG_u8().

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◆ setColorR()

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double r )

inline

Color components in the range [0,1].

Returns: a ref to this

Definition at line 176 of file CRenderizable.h.

References setColorR_u8().

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◆ setColorR_u8()

virtual CRenderizable& mrpt::opengl::CRenderizable::setColorR_u8 ( const uint8_t r )

inlinevirtual

Color components in the range [0,255].

Returns: a ref to this

Reimplemented in mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CRenderizableDisplayList.

Definition at line 196 of file CRenderizable.h.

References m_color, and mrpt::utils::TColor::R.

Referenced by setColorR(), and mrpt::opengl::CSetOfObjects::setColorR_u8().

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◆ setLocation() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation	(	double	x,
		double	y,
		double	z
	)

inline

Changes the location of the object, keeping untouched the orientation.

Returns: a ref to this

Definition at line 114 of file CRenderizable.h.

References m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateCurrCovarianceVisualization(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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◆ setLocation() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D & p )

inline

Changes the location of the object, keeping untouched the orientation.

Returns: a ref to this

Definition at line 124 of file CRenderizable.h.

References m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ setName()

void mrpt::opengl::CRenderizable::setName ( const std::string & n )

inline

Changes the name of the object.

Definition at line 68 of file CRenderizable.h.

References m_name.

◆ setPose() [1/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose3D & o )

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 310 of file CRenderizable.cpp.

References m_pose.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::kinematics::CKinematicChain::update3DObject(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateEstimatedTrajectoryVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateGTVisualization(), mrpt::graphslam::CGraphSlamEngine< GRAPH_T >::updateOdometryVisualization(), and mrpt::graphslam::deciders::CICPCriteriaERD< GRAPH_T >::updateVisuals().

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◆ setPose() [2/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPose2D & o )

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

Definition at line 315 of file CRenderizable.cpp.

References m_pose.

◆ setPose() [3/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose3D & o )

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 320 of file CRenderizable.cpp.

References m_pose.

◆ setPose() [4/6]

CRenderizable & CRenderizable::setPose ( const mrpt::math::TPose2D & o )

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

Definition at line 325 of file CRenderizable.cpp.

References m_pose.

◆ setPose() [5/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint3D & o )

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 332 of file CRenderizable.cpp.

References m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ setPose() [6/6]

CRenderizable & CRenderizable::setPose ( const mrpt::poses::CPoint2D & o )

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 338 of file CRenderizable.cpp.

References m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

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◆ setScale() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float s )

inline

Scale to apply to the object, in all three axes (default=1)

Returns: a ref to this

Definition at line 222 of file CRenderizable.h.

References m_scale_x, m_scale_y, and m_scale_z.

Referenced by mrpt::opengl::CText3D::CText3D().

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◆ setScale() [2/2]

CRenderizable& mrpt::opengl::CRenderizable::setScale	(	float	sx,
		float	sy,
		float	sz
	)

inline

Scale to apply to the object in each axis (default=1)

Returns: a ref to this

Definition at line 229 of file CRenderizable.h.

References m_scale_x, m_scale_y, and m_scale_z.

◆ setVisibility()

void mrpt::opengl::CRenderizable::setVisibility ( bool visible = true )

inline

Set object visibility (default=true)

See also: isVisible

Definition at line 76 of file CRenderizable.h.

References m_visible.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::graphslam::deciders::CLoopCloserERD< GRAPH_T >::updateMapPartitionsVisualization().

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◆ textBitmapWidth()

int CRenderizable::textBitmapWidth	(	const std::string &	str,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)

static

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 389 of file CRenderizable.cpp.

References mrpt::opengl::gl_utils::textBitmapWidth().

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◆ traceRay()

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

virtual

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

Reimplemented in mrpt::opengl::CPolyhedron, mrpt::opengl::CAngularObservationMesh, mrpt::opengl::CMesh, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CEllipsoid, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CFrustum, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSphere, mrpt::opengl::CBox, mrpt::opengl::CTexturedPlane, mrpt::opengl::CDisk, mrpt::opengl::CAssimpModel, mrpt::opengl::C3DSScene, mrpt::opengl::CCylinder, and mrpt::opengl::COpenGLStandardObject.

Definition at line 355 of file CRenderizable.cpp.

References MRPT_UNUSED_PARAM.

◆ writeToMatlab()

virtual mxArray* mrpt::utils::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 89 of file CSerializable.h.

◆ writeToStream()

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const

protectedpure virtualinherited

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters

out	The output binary stream where object must be dumped.
getVersion	If nullptr, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions

std::exception On any error, see CStream::WriteBuffer

See also: CStream

Referenced by mrpt::utils::CStream::WriteObject(), mrpt::maps::CColouredOctoMap::writeToStream(), and mrpt::maps::COctoMap::writeToStream().

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◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( utils::CStream & out ) const

protected

Definition at line 112 of file CRenderizable.cpp.

References mrpt::utils::TColor::A, mrpt::utils::TColor::B, mrpt::utils::TColor::G, m_color, m_name, m_pose, m_scale_x, m_scale_y, m_scale_z, m_show_name, m_visible, mrpt::poses::CPose3D::pitch(), mrpt::utils::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::utils::CStream::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().

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Friends And Related Function Documentation

◆ mrpt::opengl::COpenGLViewport

friend class mrpt::opengl::COpenGLViewport

friend

Definition at line 47 of file CRenderizable.h.

◆ mrpt::opengl::CSetOfObjects

friend class mrpt::opengl::CSetOfObjects

friend

Definition at line 48 of file CRenderizable.h.

◆ mrpt::utils::CStream

friend class mrpt::utils::CStream

friend

Definition at line 45 of file CRenderizable.h.

Member Data Documentation

◆ m_color

mrpt::utils::TColor mrpt::opengl::CRenderizable::m_color

protected

Color components in the range [0,255].

Definition at line 54 of file CRenderizable.h.

Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), getColor(), getColor_u8(), getColorA(), getColorA_u8(), getColorB(), getColorB_u8(), getColorG(), getColorG_u8(), getColorR(), getColorR_u8(), readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CText3D::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), mrpt::opengl::CPolyhedron::render_dl(), mrpt::opengl::CTexturedObject::render_post(), mrpt::opengl::CTexturedObject::render_pre(), setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), setColorA_u8(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), setColorG_u8(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), setColorR_u8(), and writeToStreamRender().

◆ m_name

std::string mrpt::opengl::CRenderizable::m_name

protected

Definition at line 51 of file CRenderizable.h.

Referenced by getName(), readFromStreamRender(), setName(), and writeToStreamRender().

◆ m_pose

mrpt::poses::CPose3D mrpt::opengl::CRenderizable::m_pose

protected

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 57 of file CRenderizable.h.

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x

protected

Scale components to apply to the object (default=1)

Definition at line 59 of file CRenderizable.h.

Referenced by mrpt::opengl::CText3D::getBoundingBox(), getScaleX(), readFromStreamRender(), setScale(), and writeToStreamRender().

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y

protected

Definition at line 59 of file CRenderizable.h.

Referenced by getScaleY(), readFromStreamRender(), setScale(), and writeToStreamRender().

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z

protected

Definition at line 59 of file CRenderizable.h.

Referenced by getScaleZ(), readFromStreamRender(), setScale(), and writeToStreamRender().

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name

protected

Definition at line 52 of file CRenderizable.h.

Referenced by enableShowName(), isShowNameEnabled(), readFromStreamRender(), and writeToStreamRender().

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible

protected

Is the object visible? (default=true)

Definition at line 61 of file CRenderizable.h.

Referenced by isVisible(), readFromStreamRender(), setVisibility(), and writeToStreamRender().

◆ runtimeClassId

const mrpt::utils::TRuntimeClassId mrpt::opengl::CRenderizable::runtimeClassId

staticprotected

Definition at line 45 of file CRenderizable.h.

Detailed Description

Public Member Functions

Static Public Member Functions

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Friends

RTTI stuff

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

Constructor & Destructor Documentation

◆ CRenderizable()

◆ ~CRenderizable()

Member Function Documentation

◆ _GetBaseClass()

◆ checkOpenGLError()

◆ clone()

◆ enableShowName()

◆ getBoundingBox()

◆ getColor()

◆ getColor_u8()

◆ getColorA()

◆ getColorA_u8()

◆ getColorB()

◆ getColorB_u8()

◆ getColorG()

◆ getColorG_u8()

◆ getColorR()

◆ getColorR_u8()

◆ getName()

◆ getNewTextureNumber()

◆ getPose()

◆ getPosePitch()

◆ getPosePitchRad()

◆ getPoseRef()

◆ getPoseRoll()

◆ getPoseRollRad()

◆ getPoseX()

◆ getPoseY()

◆ getPoseYaw()

◆ getPoseYawRad()

◆ getPoseZ()

◆ GetRuntimeClass()

◆ GetRuntimeClassIdStatic()

◆ getScaleX()

◆ getScaleY()

◆ getScaleZ()

◆ isShowNameEnabled()

◆ isVisible()

◆ readFromStream()

◆ readFromStreamRender()

◆ releaseTextureName()

◆ render()

◆ renderTextBitmap() [1/2]

◆ renderTextBitmap() [2/2]

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setColor_u8() [1/2]

◆ setColor_u8() [2/2]

◆ setColorA()

◆ setColorA_u8()

◆ setColorB()

◆ setColorB_u8()

◆ setColorG()

◆ setColorG_u8()

◆ setColorR()

◆ setColorR_u8()

◆ setLocation() [1/2]

◆ setLocation() [2/2]

◆ setName()

◆ setPose() [1/6]

◆ setPose() [2/6]

◆ setPose() [3/6]

◆ setPose() [4/6]

◆ setPose() [5/6]

◆ setPose() [6/6]

◆ setScale() [1/2]

◆ setScale() [2/2]

◆ setVisibility()