MRPT  1.9.9
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mrpt::opengl::CPolyhedron Class Reference

Detailed Description

This class represents arbitrary polyhedra.

The class includes a set of static methods to create common polyhedrons. The class includes many methods to create standard polyhedra, not intended to be fast but to be simple. For example, the dodecahedron is not created efficiently: first, an icosahedron is created, and a duality operator is applied to it, which yields the dodecahedron. This way, code is much smaller, although much slower. This is not a big problem, since polyhedron creation does not usually take a significant amount of time (they are created once and rendered many times). Polyhedra information and models have been gotten from the Wikipedia, http://wikipedia.org

See also
opengl::COpenGLScene
mrpt::opengl::CPolyhedron
preview_CPolyhedron.png

Definition at line 43 of file CPolyhedron.h.

#include <mrpt/opengl/CPolyhedron.h>

Inheritance diagram for mrpt::opengl::CPolyhedron:

Classes

struct  TPolyhedronEdge
 Struct used to store a polyhedron edge. More...
 
struct  TPolyhedronFace
 Struct used to store a polyhedron face. More...
 

Public Member Functions

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 the object parent. More...
 
void render_dl () const override
 Render. More...
 
bool traceRay (const mrpt::poses::CPose3D &o, double &dist) const override
 Ray trace. More...
 
void getVertices (std::vector< mrpt::math::TPoint3D > &vertices) const
 Gets a list with the polyhedron's vertices. More...
 
void getEdges (std::vector< TPolyhedronEdge > &edges) const
 Gets a list with the polyhedron's edges. More...
 
void getFaces (std::vector< TPolyhedronFace > &faces) const
 Gets a list with the polyhedron's faces. More...
 
uint32_t getNumberOfVertices () const
 Gets the amount of vertices. More...
 
uint32_t getNumberOfEdges () const
 Gets the amount of edges. More...
 
uint32_t getNumberOfFaces () const
 Gets the amount of faces. More...
 
void getEdgesLength (std::vector< double > &lengths) const
 Gets a vector with each edge's length. More...
 
void getFacesArea (std::vector< double > &areas) const
 Gets a vector with each face's area. More...
 
double getVolume () const
 Gets the polyhedron volume. More...
 
bool isWireframe () const
 Returns whether the polyhedron will be rendered as a wireframe object. More...
 
void setWireframe (bool enabled=true)
 Sets whether the polyhedron will be rendered as a wireframe object. More...
 
double getLineWidth () const
 Gets the wireframe lines width. More...
 
void setLineWidth (double lineWidth)
 Sets the width used to render lines, when wireframe rendering is activated. More...
 
void getSetOfPolygons (std::vector< math::TPolygon3D > &vec) const
 Gets the polyhedron as a set of polygons. More...
 
void getSetOfPolygonsAbsolute (std::vector< math::TPolygon3D > &vec) const
 Gets the polyhedron as a set of polygons, with the pose transformation already applied. More...
 
bool isClosed () const
 Returns true if the polygon is a completely closed object. More...
 
void makeConvexPolygons ()
 Recomputes polygons, if necessary, so that each one is convex. More...
 
void getCenter (mrpt::math::TPoint3D &center) const
 Gets the center of the polyhedron. More...
 
void updatePolygons () const
 Updates the mutable list of polygons used in rendering and ray tracing. More...
 
 CPolyhedron ()
 Basic empty constructor. More...
 
 CPolyhedron (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces, bool doCheck=true)
 Basic constructor with a list of vertices and another of faces, checking for correctness. More...
 
void InitFromVertAndFaces (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces, bool doCheck=true)
 
 CPolyhedron (const std::vector< math::TPolygon3D > &polys)
 
 CPolyhedron (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< std::vector< uint32_t >> &faces)
 
 ~CPolyhedron () override=default
 Destructor. More...
 
void render () const override
 Render the object, regenerating the display list if needed, otherwise just calling it. More...
 
virtual mxArraywriteToMatlab () 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...
 
Polyhedron special operations.
CPolyhedron::Ptr getDual () const
 Given a polyhedron, creates its dual. More...
 
CPolyhedron::Ptr truncate (double factor) const
 Truncates a polyhedron to a given factor. More...
 
CPolyhedron::Ptr cantellate (double factor) const
 Cantellates a polyhedron to a given factor. More...
 
CPolyhedron::Ptr augment (double height) const
 Augments a polyhedron to a given height. More...
 
CPolyhedron::Ptr augment (double height, size_t numVertices) const
 Augments a polyhedron to a given height. More...
 
CPolyhedron::Ptr augment (bool direction=false) const
 Augments a polyhedron, so that the resulting triangles are equilateral. More...
 
CPolyhedron::Ptr augment (size_t numVertices, bool direction=false) const
 Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces. More...
 
CPolyhedron::Ptr rotate (double angle) const
 Rotates a polyhedron around the Z axis a given amount of radians. More...
 
CPolyhedron::Ptr scale (double factor) const
 Scales a polyhedron to a given factor. More...
 
Changes the appearance of the object to render (methods from

CRenderizable that need to be redefined)

CRenderizablesetColorR_u8 (const uint8_t r) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorG_u8 (const uint8_t g) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorB_u8 (const uint8_t b) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColorA_u8 (const uint8_t a) override
 Color components in the range [0,255]. More...
 
CRenderizablesetColor_u8 (const mrpt::img::TColor &c) override
 Changes the default object color. More...
 
CRenderizablesetColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
 Color components in the range [0,255]. More...
 
Changes the appearance of the object to render
void setName (const std::string &n)
 Changes the name of the object. More...
 
const std::stringgetName () 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
 
CRenderizablesetPose (const mrpt::poses::CPose3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPose2D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose3D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::math::TPose2D &o)
 Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More...
 
CRenderizablesetPose (const mrpt::poses::CPoint3D &o)
 Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More...
 
CRenderizablesetPose (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::CPose3DgetPoseRef () const
 Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More...
 
CRenderizablesetLocation (double x, double y, double z)
 Changes the location of the object, keeping untouched the orientation. More...
 
CRenderizablesetLocation (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...
 
CRenderizablesetColorR (const double r)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorG (const double g)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorB (const double b)
 Color components in the range [0,1]. More...
 
CRenderizablesetColorA (const double a)
 Color components in the range [0,1]. More...
 
CRenderizablesetScale (float s)
 Scale to apply to the object, in all three axes (default=1) More...
 
CRenderizablesetScale (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::img::TColorf getColor () const
 Returns the object color property as a TColorf. More...
 
CRenderizablesetColor (const mrpt::img::TColorf &c)
 Changes the default object color. More...
 
CRenderizablesetColor (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::img::TColorgetColor_u8 () const
 Returns the object color property as a TColor. More...
 
RTTI classes and functions for polymorphic hierarchies
mrpt::rtti::CObject::Ptr duplicateGetSmartPtr () const
 Makes a deep copy of the object and returns a smart pointer to it. More...
 

Static Public Member Functions

template<class T >
static size_t getIntersection (const CPolyhedron::Ptr &p1, const CPolyhedron::Ptr &p2, T &container)
 Gets the intersection of two polyhedra, either as a set or as a matrix of intersections. More...
 
static CPolyhedron::Ptr CreateRandomPolyhedron (double radius)
 Creates a random polyhedron from the static methods. More...
 
static CPolyhedron::Ptr CreateNoCheck (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces)
 Creates a polyhedron without checking its correctness. More...
 
static CPolyhedron::Ptr CreateEmpty ()
 Creates an empty Polyhedron. More...
 
static void renderTextBitmap (const char *str, void *fontStyle)
 This method is safe for calling from within ::render() methods. 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...
 
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...
 
Platonic solids.
static CPolyhedron::Ptr CreateTetrahedron (double radius)
 Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron). More...
 
static CPolyhedron::Ptr CreateHexahedron (double radius)
 Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron). More...
 
static CPolyhedron::Ptr CreateOctahedron (double radius)
 Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron). More...
 
static CPolyhedron::Ptr CreateDodecahedron (double radius)
 Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron). More...
 
static CPolyhedron::Ptr CreateIcosahedron (double radius)
 Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron). More...
 
Archimedean solids.
static CPolyhedron::Ptr CreateTruncatedTetrahedron (double radius)
 Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron). More...
 
static CPolyhedron::Ptr CreateCuboctahedron (double radius)
 Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron). More...
 
static CPolyhedron::Ptr CreateTruncatedHexahedron (double radius)
 Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron). More...
 
static CPolyhedron::Ptr CreateTruncatedOctahedron (double radius)
 Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron). More...
 
static CPolyhedron::Ptr CreateRhombicuboctahedron (double radius, bool type=true)
 Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola. More...
 
static CPolyhedron::Ptr CreateIcosidodecahedron (double radius, bool type=true)
 Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron). More...
 
static CPolyhedron::Ptr CreateTruncatedDodecahedron (double radius)
 Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron). More...
 
static CPolyhedron::Ptr CreateTruncatedIcosahedron (double radius)
 Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons. More...
 
static CPolyhedron::Ptr CreateRhombicosidodecahedron (double radius)
 Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron). More...
 
Other Johnson solids.
static CPolyhedron::Ptr CreatePentagonalRotunda (double radius)
 Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda). More...
 
Catalan solids.
static CPolyhedron::Ptr CreateTriakisTetrahedron (double radius)
 Creates a triakis tetrahedron, dual to the truncated tetrahedron. More...
 
static CPolyhedron::Ptr CreateRhombicDodecahedron (double radius)
 Creates a rhombic dodecahedron, dual to the cuboctahedron. More...
 
static CPolyhedron::Ptr CreateTriakisOctahedron (double radius)
 Creates a triakis octahedron, dual to the truncated hexahedron. More...
 
static CPolyhedron::Ptr CreateTetrakisHexahedron (double radius)
 Creates a tetrakis hexahedron, dual to the truncated octahedron. More...
 
static CPolyhedron::Ptr CreateDeltoidalIcositetrahedron (double radius)
 Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron. More...
 
static CPolyhedron::Ptr CreateRhombicTriacontahedron (double radius)
 Creates a rhombic triacontahedron, dual to the icosidodecahedron. More...
 
static CPolyhedron::Ptr CreateTriakisIcosahedron (double radius)
 Creates a triakis icosahedron, dual to the truncated dodecahedron. More...
 
static CPolyhedron::Ptr CreatePentakisDodecahedron (double radius)
 Creates a pentakis dodecahedron, dual to the truncated icosahedron. More...
 
static CPolyhedron::Ptr CreateDeltoidalHexecontahedron (double radius)
 Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron. More...
 
Customizable polyhedra
static CPolyhedron::Ptr CreateCubicPrism (double x1, double x2, double y1, double y2, double z1, double z2)
 Creates a cubic prism, given the coordinates of two opposite vertices. More...
 
static CPolyhedron::Ptr CreateCubicPrism (const mrpt::math::TPoint3D &p1, const mrpt::math::TPoint3D &p2)
 Creates a cubic prism, given two opposite vertices. More...
 
static CPolyhedron::Ptr CreatePyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height)
 Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane. More...
 
static CPolyhedron::Ptr CreateDoublePyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height1, double height2)
 Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane. More...
 
static CPolyhedron::Ptr CreateTruncatedPyramid (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height, double ratio)
 Creates a truncated pyramid, using a set of vertices which will lie on the XY plane. More...
 
static CPolyhedron::Ptr CreateFrustum (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height, double ratio)
 This is a synonym for CreateTruncatedPyramid. More...
 
static CPolyhedron::Ptr CreateCustomPrism (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height)
 Creates a custom prism with vertical edges, given any base which will lie on the XY plane. More...
 
static CPolyhedron::Ptr CreateCustomAntiprism (const std::vector< mrpt::math::TPoint2D > &bottomBase, const std::vector< mrpt::math::TPoint2D > &topBase, double height)
 Creates a custom antiprism, using two custom bases. More...
 
static CPolyhedron::Ptr CreateParallelepiped (const mrpt::math::TPoint3D &base, const mrpt::math::TPoint3D &v1, const mrpt::math::TPoint3D &v2, const mrpt::math::TPoint3D &v3)
 Creates a parallelepiped, given a base point and three vectors represented as points. More...
 
static CPolyhedron::Ptr CreateBifrustum (const std::vector< mrpt::math::TPoint2D > &baseVertices, double height1, double ratio1, double height2, double ratio2)
 Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane. More...
 
static CPolyhedron::Ptr CreateTrapezohedron (uint32_t numBaseEdges, double baseRadius, double basesDistance)
 Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base. More...
 
static CPolyhedron::Ptr CreateRegularAntiprism (uint32_t numBaseEdges, double baseRadius, double height)
 Creates an antiprism whose base is a regular polygon. More...
 
static CPolyhedron::Ptr CreateRegularPrism (uint32_t numBaseEdges, double baseRadius, double height)
 Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane. More...
 
static CPolyhedron::Ptr CreateRegularPyramid (uint32_t numBaseEdges, double baseRadius, double height)
 Creates a regular pyramid whose base is a regular polygon. More...
 
static CPolyhedron::Ptr CreateRegularDoublePyramid (uint32_t numBaseEdges, double baseRadius, double height1, double height2)
 Creates a regular double pyramid whose base is a regular polygon. More...
 
static CPolyhedron::Ptr CreateArchimedeanRegularPrism (uint32_t numBaseEdges, double baseRadius)
 Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon. More...
 
static CPolyhedron::Ptr CreateArchimedeanRegularAntiprism (uint32_t numBaseEdges, double baseRadius)
 Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon. More...
 
static CPolyhedron::Ptr CreateRegularTruncatedPyramid (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
 Creates a regular truncated pyramid whose base is a regular polygon. More...
 
static CPolyhedron::Ptr CreateRegularFrustum (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
 This is a synonym for CreateRegularTruncatedPyramid. More...
 
static CPolyhedron::Ptr CreateRegularBifrustum (uint32_t numBaseEdges, double baseRadius, double height1, double ratio1, double height2, double ratio2)
 Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane. More...
 
static CPolyhedron::Ptr CreateCupola (uint32_t numBaseEdges, double edgeLength)
 Creates a cupola. More...
 
static CPolyhedron::Ptr CreateCatalanTrapezohedron (uint32_t numBaseEdges, double height)
 Creates a trapezohedron whose dual is exactly an archimedean antiprism. More...
 
static CPolyhedron::Ptr CreateCatalanDoublePyramid (uint32_t numBaseEdges, double height)
 Creates a double pyramid whose dual is exactly an archimedean prism. More...
 
static CPolyhedron::Ptr CreateJohnsonSolidWithConstantBase (uint32_t numBaseEdges, double baseRadius, const std::string &components, size_t shifts=0)
 Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges. More...
 

Protected Member Functions

void writeToStreamRender (mrpt::serialization::CArchive &out) const
 
CSerializable virtual methods
uint8_t serializeGetVersion () const override
 Must return the current versioning number of the object. More...
 
void serializeTo (mrpt::serialization::CArchive &out) const override
 Pure virtual method for writing (serializing) to an abstract archive. More...
 
void serializeFrom (mrpt::serialization::CArchive &in, uint8_t serial_version) override
 Pure virtual method for reading (deserializing) from an abstract archive. More...
 
Methods accesible or implemented by derived classes
void notifyChange () const
 Must be called to notify that the object has changed (so, the display list must be updated) More...
 
virtual bool should_skip_display_list_cache () const
 Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases. More...
 
void readFromStreamRender (mrpt::serialization::CArchive &in)
 
CSerializable virtual methods
virtual void serializeTo (CSchemeArchiveBase &out) const
 Virtual method for writing (serializing) to an abstract schema based archive. More...
 
virtual void serializeFrom (CSchemeArchiveBase &in)
 Virtual method for reading (deserializing) from an abstract schema based archive. 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::vector< mrpt::math::TPoint3DmVertices
 List of vertices presents in the polyhedron. More...
 
std::vector< TPolyhedronEdgemEdges
 List of polyhedron's edges. More...
 
std::vector< TPolyhedronFacemFaces
 List of polyhedron's faces. More...
 
bool mWireframe {false}
 This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges. More...
 
double mLineWidth {1}
 When displaying as wireframe object, this variable stores the width of the edges. More...
 
std::vector< mrpt::math::TPolygonWithPlanetempPolygons
 Mutable list of actual polygons, maintained for speed. More...
 
bool polygonsUpToDate {false}
 Whether the set of actual polygons is up to date or not. More...
 
std::string m_name
 
bool m_show_name {false}
 
mrpt::img::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 {1}
 Scale components to apply to the object (default=1) More...
 
float m_scale_y {1}
 
float m_scale_z {1}
 
bool m_visible {true}
 Is the object visible? (default=true) More...
 

Private Member Functions

bool setNormal (TPolyhedronFace &f, bool doCheck=true)
 Calculates the normal vector to a face. More...
 
void addEdges (const TPolyhedronFace &e)
 Adds, to the existing list of edges, each edge in a given face. More...
 
size_t edgesInVertex (size_t vertex) const
 Returns how many edges converge in a given vertex. More...
 
size_t facesInVertex (size_t vertex) const
 Returns how many faces converge in a given vertex. More...
 

Static Private Member Functions

static std::vector< mrpt::math::TPoint2DgenerateBase (uint32_t numBaseEdges, double baseRadius)
 Generates a list of 2D vertices constituting a regular polygon. More...
 
static std::vector< mrpt::math::TPoint2DgenerateShiftedBase (uint32_t numBaseEdges, double baseRadius)
 Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms. More...
 
static void generateBase (uint32_t numBaseEdges, double baseRadius, double height, std::vector< mrpt::math::TPoint3D > &vec)
 Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector. More...
 
static void generateShiftedBase (uint32_t numBaseEdges, double baseRadius, double height, double shift, std::vector< mrpt::math::TPoint3D > &vec)
 Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector. More...
 
static bool checkConsistence (const std::vector< mrpt::math::TPoint3D > &vertices, const std::vector< TPolyhedronFace > &faces)
 Checks whether a set of faces is suitable for a set of vertices. More...
 

RTTI stuff

using Ptr = std::shared_ptr< mrpt::opengl ::CPolyhedron >
 
using ConstPtr = std::shared_ptr< const mrpt::opengl ::CPolyhedron >
 
using UniquePtr = std::unique_ptr< mrpt::opengl ::CPolyhedron >
 
using ConstUniquePtr = std::unique_ptr< const mrpt::opengl ::CPolyhedron >
 
static const mrpt::rtti::TRuntimeClassId runtimeClassId
 
static constexpr const char * className = "mrpt::opengl" "::" "CPolyhedron"
 
static const mrpt::rtti::TRuntimeClassId_GetBaseClass ()
 
static constexpr auto getClassName ()
 
static const mrpt::rtti::TRuntimeClassIdGetRuntimeClassIdStatic ()
 
static std::shared_ptr< CObjectCreateObject ()
 
template<typename... Args>
static Ptr Create (Args &&... args)
 
template<typename Alloc , typename... Args>
static Ptr CreateAlloc (const Alloc &alloc, Args &&... args)
 
template<typename... Args>
static UniquePtr CreateUnique (Args &&... args)
 
virtual const mrpt::rtti::TRuntimeClassIdGetRuntimeClass () const override
 Returns information about the class of an object in runtime. More...
 
virtual mrpt::rtti::CObjectclone () const override
 Returns a deep copy (clone) of the object, indepently of its class. More...
 

Member Typedef Documentation

◆ ConstPtr

Definition at line 45 of file CPolyhedron.h.

◆ ConstUniquePtr

using mrpt::opengl::CPolyhedron::ConstUniquePtr = std::unique_ptr<const mrpt::opengl :: CPolyhedron >

Definition at line 45 of file CPolyhedron.h.

◆ Ptr

A type for the associated smart pointer

Definition at line 45 of file CPolyhedron.h.

◆ UniquePtr

using mrpt::opengl::CPolyhedron::UniquePtr = std::unique_ptr< mrpt::opengl :: CPolyhedron >

Definition at line 45 of file CPolyhedron.h.

Constructor & Destructor Documentation

◆ CPolyhedron() [1/4]

mrpt::opengl::CPolyhedron::CPolyhedron ( )
inline

Basic empty constructor.

Definition at line 884 of file CPolyhedron.h.

◆ CPolyhedron() [2/4]

mrpt::opengl::CPolyhedron::CPolyhedron ( const std::vector< mrpt::math::TPoint3D > &  vertices,
const std::vector< TPolyhedronFace > &  faces,
bool  doCheck = true 
)
inline

Basic constructor with a list of vertices and another of faces, checking for correctness.

Definition at line 889 of file CPolyhedron.h.

◆ CPolyhedron() [3/4]

CPolyhedron::CPolyhedron ( const std::vector< math::TPolygon3D > &  polys)

Definition at line 515 of file CPolyhedron.cpp.

References getVerticesAndFaces(), InitFromVertAndFaces(), mFaces, and mVertices.

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◆ CPolyhedron() [4/4]

CPolyhedron::CPolyhedron ( const std::vector< mrpt::math::TPoint3D > &  vertices,
const std::vector< std::vector< uint32_t >> &  faces 
)

Definition at line 528 of file CPolyhedron.cpp.

References InitFromVertAndFaces(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ ~CPolyhedron()

mrpt::opengl::CPolyhedron::~CPolyhedron ( )
overridedefault

Destructor.

Member Function Documentation

◆ _GetBaseClass()

static const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CPolyhedron::_GetBaseClass ( )
staticprotected

◆ addEdges()

void CPolyhedron::addEdges ( const TPolyhedronFace e)
private

Adds, to the existing list of edges, each edge in a given face.

Definition at line 1907 of file CPolyhedron.cpp.

References mrpt::containers::find(), mEdges, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by makeConvexPolygons(), and serializeFrom().

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◆ augment() [1/4]

CPolyhedron::Ptr CPolyhedron::augment ( double  height) const

Augments a polyhedron to a given height.

This operation is roughly dual to the truncation: given a body P, the operation dtdP and aP yield resembling results.

See also
getDual,truncate,cantellate

Definition at line 1593 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), for(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [2/4]

CPolyhedron::Ptr CPolyhedron::augment ( double  height,
size_t  numVertices 
) const

Augments a polyhedron to a given height.

This method only affects to faces with certain number of vertices.

See also
augment(double) const

Definition at line 1638 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), for(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [3/4]

CPolyhedron::Ptr CPolyhedron::augment ( bool  direction = false) const

Augments a polyhedron, so that the resulting triangles are equilateral.

If the argument is true, triangles are "cut" from the polyhedron, instead of being added.

Exceptions
std::logic_errora non-regular face has been found.
See also
augment(double) const

Definition at line 1699 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), for(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ augment() [4/4]

CPolyhedron::Ptr CPolyhedron::augment ( size_t  numVertices,
bool  direction = false 
) const

Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces.

If the second argument is true, triangles are "cut" from the polyhedron.

Exceptions
std::logic_errora non-regular face has been found.
See also
augment(double) const

Definition at line 1745 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), for(), mrpt::math::TPolygon3D::getBestFittingPlane(), mrpt::math::TPolygon3D::getCenter(), getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ cantellate()

CPolyhedron::Ptr CPolyhedron::cantellate ( double  factor) const

Cantellates a polyhedron to a given factor.

See also
getDual,truncate,augment

Definition at line 1507 of file CPolyhedron.cpp.

References mrpt::containers::begin(), CreateEmpty(), CreateNoCheck(), getCenter(), getSetOfPolygons(), mEdges, mFaces, mVertices, and searchForEdge().

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◆ checkConsistence()

bool CPolyhedron::checkConsistence ( const std::vector< mrpt::math::TPoint3D > &  vertices,
const std::vector< TPolyhedronFace > &  faces 
)
staticprivate

Checks whether a set of faces is suitable for a set of vertices.

Definition at line 1926 of file CPolyhedron.cpp.

Referenced by serializeFrom().

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◆ checkOpenGLError()

void CRenderizable::checkOpenGLError ( )
staticprotectedinherited

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

Definition at line 240 of file CRenderizable.cpp.

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

Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), and render_dl().

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◆ clone()

virtual mrpt::rtti::CObject* mrpt::opengl::CPolyhedron::clone ( ) const
overridevirtual

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

Implements mrpt::rtti::CObject.

◆ Create()

template<typename... Args>
static Ptr mrpt::opengl::CPolyhedron::Create ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPolyhedron.h.

Referenced by CreateEmpty(), and CreateNoCheck().

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◆ CreateAlloc()

template<typename Alloc , typename... Args>
static Ptr mrpt::opengl::CPolyhedron::CreateAlloc ( const Alloc &  alloc,
Args &&...  args 
)
inlinestatic

Definition at line 45 of file CPolyhedron.h.

◆ CreateArchimedeanRegularAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateArchimedeanRegularAntiprism ( uint32_t  numBaseEdges,
double  baseRadius 
)
static

Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also
CreateRegularAntiprism,CreateCustomAntiprism

Definition at line 2233 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateCatalanTrapezohedron(), and CreateRandomPolyhedron().

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◆ CreateArchimedeanRegularPrism()

CPolyhedron::Ptr CPolyhedron::CreateArchimedeanRegularPrism ( uint32_t  numBaseEdges,
double  baseRadius 
)
static

Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also
CreateRegularPrism,CreateCustomPrism

Definition at line 2228 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateCatalanDoublePyramid(), and CreateRandomPolyhedron().

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◆ CreateBifrustum()

CPolyhedron::Ptr CPolyhedron::CreateBifrustum ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height1,
double  ratio1,
double  height2,
double  ratio2 
)
static

Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane.

See also
CreateFrustum,CreateDoublePyramid

Definition at line 725 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularBifrustum().

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◆ CreateCatalanDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateCatalanDoublePyramid ( uint32_t  numBaseEdges,
double  height 
)
static

Creates a double pyramid whose dual is exactly an archimedean prism.

Creates an octahedron if numBaseEdges is equal to 4.

Todo:
Actually resulting height is significantly higher than that passed to the algorithm.
See also
CreateDoublePyramid,CreateArchimedeanRegularPrism,getDual

Definition at line 2269 of file CPolyhedron.cpp.

References CreateArchimedeanRegularPrism().

Referenced by CreateRandomPolyhedron().

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◆ CreateCatalanTrapezohedron()

CPolyhedron::Ptr CPolyhedron::CreateCatalanTrapezohedron ( uint32_t  numBaseEdges,
double  height 
)
static

Creates a trapezohedron whose dual is exactly an archimedean antiprism.

Creates a cube if numBaseEdges is equal to 3.

Todo:
Actually resulting height is significantly higher than that passed to the algorithm.
See also
CreateTrapezohedron,CreateArchimedeanRegularAntiprism,getDual

Definition at line 2264 of file CPolyhedron.cpp.

References CreateArchimedeanRegularAntiprism().

Referenced by CreateRandomPolyhedron().

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◆ CreateCubicPrism() [1/2]

CPolyhedron::Ptr CPolyhedron::CreateCubicPrism ( double  x1,
double  x2,
double  y1,
double  y2,
double  z1,
double  z2 
)
static

Creates a cubic prism, given the coordinates of two opposite vertices.

Each edge will be parallel to one of the coordinate axes, although the orientation may change by assigning a pose to the object.

See also
CreateCubicPrism(const mrpt::math::TPoint3D &,const mrpt::math::TPoint3D &),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 541 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by mrpt::opengl::stock_objects::BumblebeeCamera(), CreateCubicPrism(), and CreateHexahedron().

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◆ CreateCubicPrism() [2/2]

CPolyhedron::Ptr CPolyhedron::CreateCubicPrism ( const mrpt::math::TPoint3D p1,
const mrpt::math::TPoint3D p2 
)
static

Creates a cubic prism, given two opposite vertices.

See also
CreateCubicPrism(double,double,double,double,double,double),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 2190 of file CPolyhedron.cpp.

References CreateCubicPrism(), mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

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◆ CreateCuboctahedron()

CPolyhedron::Ptr CPolyhedron::CreateCuboctahedron ( double  radius)
static

Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron).

There are several ways to create a cuboctahedron:

  • Hexahedron truncated to a certain extent.
  • Octahedron truncated to a certain extent.
  • Cantellated tetrahedron
  • Dual to a rhombic dodecahedron.
See also
CreateHexahedron,CreateOctahedron,truncate,CreateTetrahedron,cantellate,CreateRhombicuboctahedron,CreateRhombicDodecahedron,

Definition at line 2105 of file CPolyhedron.cpp.

References CreateHexahedron().

Referenced by CreateRandomPolyhedron(), and CreateRhombicDodecahedron().

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◆ CreateCupola()

CPolyhedron::Ptr CPolyhedron::CreateCupola ( uint32_t  numBaseEdges,
double  edgeLength 
)
static

Creates a cupola.

Exceptions
std::logic_errorif the number of edges is odd or less than four.

Definition at line 2258 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), and M_PI.

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◆ CreateCustomAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateCustomAntiprism ( const std::vector< mrpt::math::TPoint2D > &  bottomBase,
const std::vector< mrpt::math::TPoint2D > &  topBase,
double  height 
)
static

Creates a custom antiprism, using two custom bases.

For better results, the top base should be slightly rotated with respect to the bottom one.

See also
CreateCustomPrism,CreateRegularAntiprism,CreateArchimedeanRegularAntiprism

Definition at line 650 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularAntiprism().

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◆ CreateCustomPrism()

CPolyhedron::Ptr CPolyhedron::CreateCustomPrism ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height 
)
static

Creates a custom prism with vertical edges, given any base which will lie on the XY plane.

See also
CreateCubicPrism,CreateCustomAntiprism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 2200 of file CPolyhedron.cpp.

References CreateTruncatedPyramid().

Referenced by CreateRegularPrism(), mrpt::opengl::stock_objects::RobotGiraff(), and mrpt::opengl::stock_objects::RobotRhodon().

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◆ CreateDeltoidalHexecontahedron()

CPolyhedron::Ptr CPolyhedron::CreateDeltoidalHexecontahedron ( double  radius)
static

Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron.

This body consists of 60 kites (see http://en.wikipedia.org/wiki/Deltoidal_hexecontahedron).

See also
CreateRhombicosidodecahedron

Definition at line 2185 of file CPolyhedron.cpp.

References CreateRhombicosidodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateDeltoidalIcositetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateDeltoidalIcositetrahedron ( double  radius)
static

Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron.

This body consists of 24 kites (see http://en.wikipedia.org/wiki/Deltoidal_icositetrahedron).

See also
CreateRhombicuboctahedron

Definition at line 2165 of file CPolyhedron.cpp.

References CreateRhombicuboctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateDodecahedron ( double  radius)
static

Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron).

The dodecahedron is created as the dual to an icosahedron.

See also
CreateIcosahedron,getDual,CreateTruncatedDodecahedron,CreateTruncatedIcosahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 2090 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedDodecahedron().

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◆ CreateDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateDoublePyramid ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height1,
double  height2 
)
static

Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane.

The second height is used with the downwards pointing pyramid, so that it will effectively point downwards if it's positive.

See also
CreatePyramid,CreateBifrustum,CreateRegularDoublePyramid

Definition at line 589 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularDoublePyramid().

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◆ CreateEmpty()

CPolyhedron::Ptr CPolyhedron::CreateEmpty ( )
static

Creates an empty Polyhedron.

Definition at line 2280 of file CPolyhedron.cpp.

References Create().

Referenced by cantellate(), CreateHexahedron(), CreateJohnsonSolidWithConstantBase(), CreateRandomPolyhedron(), CreateTrapezohedron(), and truncate().

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◆ CreateFrustum()

CPolyhedron::Ptr CPolyhedron::CreateFrustum ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height,
double  ratio 
)
static

This is a synonym for CreateTruncatedPyramid.

See also
CreateTruncatedPyramid

Definition at line 2195 of file CPolyhedron.cpp.

References CreateTruncatedPyramid().

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◆ CreateHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateHexahedron ( double  radius)
static

Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron).

The hexahedron is created as a cubic prism which transitive edges. Another ways to create it include:

  • Dual to an octahedron.
  • Parallelepiped with three orthogonal, equally-lengthed vectors.
  • Triangular trapezohedron with proper height.
See also
CreateOctahedron,getDual,CreateParallelepiped,CreateTrapezohedron,CreateTruncatedHexahedron,CreateTruncatedOctahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 2080 of file CPolyhedron.cpp.

References CreateCubicPrism(), and CreateEmpty().

Referenced by CreateCuboctahedron(), CreateRandomPolyhedron(), and CreateTruncatedHexahedron().

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◆ CreateIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateIcosahedron ( double  radius)
static

Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron).

The icosahedron is created as a gyroelongated pentagonal bipyramid with transitive edges, and it's the dual to a dodecahedron.

See also
CreateJohnsonSolidWithConstantBase,CreateDodecahedron,getDual,CreateTruncatedIcosahedron,CreateTruncatedDodecahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 2094 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().

Referenced by CreateDodecahedron(), CreateRandomPolyhedron(), CreateRhombicosidodecahedron(), and CreateTruncatedIcosahedron().

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◆ CreateIcosidodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateIcosidodecahedron ( double  radius,
bool  type = true 
)
static

Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron).

Certain truncations of either a dodecahedron or an icosahedron yield an icosidodecahedron. The dual of the icosidodecahedron is the rhombic triacontahedron. If the second argument is set to false, the lower rotunda is rotated. In this case, the object created is a pentagonal orthobirotunda (see http://en.wikipedia.org/wiki/Pentagonal_orthobirotunda). This object presents symmetry against the XY plane and is not vertex transitive, so it's a Johnson's solid.

See also
CreateDodecahedron,CreateIcosahedron,truncate,CreateRhombicosidodecahedron,CreateRhombicTriacontahedron

Definition at line 2125 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateRhombicTriacontahedron().

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◆ CreateJohnsonSolidWithConstantBase()

CPolyhedron::Ptr CPolyhedron::CreateJohnsonSolidWithConstantBase ( uint32_t  numBaseEdges,
double  baseRadius,
const std::string components,
size_t  shifts = 0 
)
static

Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges.

Every face of the resulting body will be a regular polygon, so it is a Johnson solid; in special cases, it may be archimedean or even platonic. The shape of the body is defined by the string argument, which can include one or more of the following:

StringBodyRestrictions
P+Upward pointing pyramidMust be the last object, vertex number cannot surpass 5
P-Downward pointing pyramidMust be the first object, vertex number cannot surpass 5
C+Upward pointing cupolaMust be the last object, vertex number must be an even number in the range 4-10.
C-Downward pointing cupolaMust be the first object, vertex number must be an even number in the range 4-10.
GC+Upward pointing cupola, rotatedMust be the last object, vertex number must be an even number in the range 4-10.
GC-Downward pointing cupola, rotatedMust be the first object, vertex number must be an even number in the range 4-10.
PRArchimedean prismCannot abut other prism
AArchimedean antiprismNone
R+Upward pointing rotundaMust be the last object, vertex number must be exactly 10
R-Downward pointing rotundaMust be the first object, vertex number must be exactly 10
GR+Upward pointing rotunda, rotatedMust be the last object, vertex number must be exactly 10
GR-Downward pointing rotundaMust be the first object, vertex number must be exactly 10

Some examples of bodies are:

StringVerticesResulting body
P+3Tetrahedron
PR4Hexahedron
P-P+4Octahedron
A3Octahedron
C+PRC-8Rhombicuboctahedron
P-AP+5Icosahedron
R-R+10Icosidodecahedron

Definition at line 827 of file CPolyhedron.cpp.

References additionalFaces(), additionalVertices(), analyzeJohnsonPartsString(), ANTIPRISM, CreateEmpty(), CreateNoCheck(), DOWNWARDS_CUPOLA, DOWNWARDS_PYRAMID, DOWNWARDS_ROTUNDA, generateShiftedBase(), INF_NO_BODY, insertCupola(), insertRotunda(), M_PI, PRISM, ROTATED_DOWNWARDS_CUPOLA, ROTATED_DOWNWARDS_ROTUNDA, ROTATED_UPWARDS_CUPOLA, ROTATED_UPWARDS_ROTUNDA, mrpt::square(), SUP_NO_BODY, UPWARDS_CUPOLA, UPWARDS_PYRAMID, and UPWARDS_ROTUNDA.

Referenced by CreateArchimedeanRegularAntiprism(), CreateArchimedeanRegularPrism(), CreateCupola(), CreateIcosahedron(), CreateIcosidodecahedron(), CreateOctahedron(), CreatePentagonalRotunda(), CreateRandomPolyhedron(), CreateRhombicuboctahedron(), and CreateTetrahedron().

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◆ CreateNoCheck()

CPolyhedron::Ptr CPolyhedron::CreateNoCheck ( const std::vector< mrpt::math::TPoint3D > &  vertices,
const std::vector< TPolyhedronFace > &  faces 
)
static

Creates a polyhedron without checking its correctness.

Definition at line 2275 of file CPolyhedron.cpp.

References Create().

Referenced by augment(), cantellate(), CreateBifrustum(), CreateCubicPrism(), CreateCustomAntiprism(), CreateDoublePyramid(), CreateJohnsonSolidWithConstantBase(), CreateParallelepiped(), CreatePyramid(), CreateTrapezohedron(), CreateTruncatedPyramid(), rotate(), scale(), and truncate().

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◆ CreateObject()

static std::shared_ptr<CObject> mrpt::opengl::CPolyhedron::CreateObject ( )
static

◆ CreateOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateOctahedron ( double  radius)
static

Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron).

The octahedron is created as a square bipyramid whit transitive edges and vertices. Another ways to create an octahedron are:

  • Dual to an hexahedron
  • Triangular antiprism with transitive vertices.
  • Conveniently truncated tetrahedron.
See also
CreateHexahedron,getDual,CreateArchimedeanAntiprism,CreateTetrahedron,truncate,CreateTruncatedOctahedron,CreateTruncatedHexahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 2086 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedOctahedron().

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◆ CreateParallelepiped()

CPolyhedron::Ptr CPolyhedron::CreateParallelepiped ( const mrpt::math::TPoint3D base,
const mrpt::math::TPoint3D v1,
const mrpt::math::TPoint3D v2,
const mrpt::math::TPoint3D v3 
)
static

Creates a parallelepiped, given a base point and three vectors represented as points.

See also
CreateCubicPrism

Definition at line 685 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ CreatePentagonalRotunda()

CPolyhedron::Ptr CPolyhedron::CreatePentagonalRotunda ( double  radius)
static

Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda).

See also
CreateIcosidodecahedron,CreateJohnsonSolidWithConstantBase

Definition at line 2145 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

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◆ CreatePentakisDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreatePentakisDodecahedron ( double  radius)
static

Creates a pentakis dodecahedron, dual to the truncated icosahedron.

This body consists of 60 isosceles triangles (see http://en.wikipedia.org/wiki/Pentakis_dodecahedron).

See also
CreateTruncatedIcosahedron

Definition at line 2180 of file CPolyhedron.cpp.

References CreateTruncatedIcosahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreatePyramid()

CPolyhedron::Ptr CPolyhedron::CreatePyramid ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height 
)
static

Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane.

See also
CreateDoublePyramid,CreateFrustum,CreateBifrustum,CreateRegularPyramid

Definition at line 562 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateRegularPyramid().

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◆ CreateRandomPolyhedron()

CPolyhedron::Ptr CPolyhedron::CreateRandomPolyhedron ( double  radius)
static

◆ CreateRegularAntiprism()

CPolyhedron::Ptr CPolyhedron::CreateRegularAntiprism ( uint32_t  numBaseEdges,
double  baseRadius,
double  height 
)
static

Creates an antiprism whose base is a regular polygon.

The upper base is rotated $\frac\pi N$ with respect to the lower one, where N is the number of vertices in the base, and thus the lateral triangles are isosceles.

See also
CreateCustomAntiprism,CreateArchimedeanRegularAntiprism

Definition at line 2205 of file CPolyhedron.cpp.

References CreateCustomAntiprism(), generateBase(), and generateShiftedBase().

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◆ CreateRegularBifrustum()

CPolyhedron::Ptr CPolyhedron::CreateRegularBifrustum ( uint32_t  numBaseEdges,
double  baseRadius,
double  height1,
double  ratio1,
double  height2,
double  ratio2 
)
static

Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane.

See also
CreateBifrustum

Definition at line 2250 of file CPolyhedron.cpp.

References CreateBifrustum(), and generateBase().

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◆ CreateRegularDoublePyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularDoublePyramid ( uint32_t  numBaseEdges,
double  baseRadius,
double  height1,
double  height2 
)
static

Creates a regular double pyramid whose base is a regular polygon.

See also
CreateDoublePyramid

Definition at line 2222 of file CPolyhedron.cpp.

References CreateDoublePyramid(), and generateBase().

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◆ CreateRegularFrustum()

CPolyhedron::Ptr CPolyhedron::CreateRegularFrustum ( uint32_t  numBaseEdges,
double  baseRadius,
double  height,
double  ratio 
)
static

This is a synonym for CreateRegularTruncatedPyramid.

See also
CreateRegularTruncatedPyramid

Definition at line 2244 of file CPolyhedron.cpp.

References CreateRegularTruncatedPyramid().

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◆ CreateRegularPrism()

CPolyhedron::Ptr CPolyhedron::CreateRegularPrism ( uint32_t  numBaseEdges,
double  baseRadius,
double  height 
)
static

Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane.

See also
CreateCubicPrism,CreateCustomPrism,CreateArchimedeanRegularAntiprism

Definition at line 2212 of file CPolyhedron.cpp.

References CreateCustomPrism(), and generateBase().

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◆ CreateRegularPyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularPyramid ( uint32_t  numBaseEdges,
double  baseRadius,
double  height 
)
static

Creates a regular pyramid whose base is a regular polygon.

See also
CreatePyramid

Definition at line 2217 of file CPolyhedron.cpp.

References CreatePyramid(), and generateBase().

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◆ CreateRegularTruncatedPyramid()

CPolyhedron::Ptr CPolyhedron::CreateRegularTruncatedPyramid ( uint32_t  numBaseEdges,
double  baseRadius,
double  height,
double  ratio 
)
static

Creates a regular truncated pyramid whose base is a regular polygon.

See also
CreateTruncatedPyramid

Definition at line 2238 of file CPolyhedron.cpp.

References CreateTruncatedPyramid(), and generateBase().

Referenced by CreateRegularFrustum().

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◆ CreateRhombicDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicDodecahedron ( double  radius)
static

Creates a rhombic dodecahedron, dual to the cuboctahedron.

This body consists of 12 rhombi (see http://en.wikipedia.org/wiki/Rhombic_dodecahedron).

See also
CreateCuboctahedron

Definition at line 2153 of file CPolyhedron.cpp.

References CreateCuboctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateRhombicosidodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicosidodecahedron ( double  radius)
static

Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron).

This object can be obtained as the cantellation of either a dodecahedron or an icosahedron. The dual of the rhombicosidodecahedron is the deltoidal hexecontahedron.

See also
CreateDodecahedron,CreateIcosahedron,CreateIcosidodecahedron,CreateDeltoidalHexecontahedron

Definition at line 2140 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreateDeltoidalHexecontahedron(), and CreateRandomPolyhedron().

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◆ CreateRhombicTriacontahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicTriacontahedron ( double  radius)
static

Creates a rhombic triacontahedron, dual to the icosidodecahedron.

This body consists of 30 rhombi (see http://en.wikipedia.org/wiki/Rhombic_triacontahedron).

See also
CreateIcosidodecahedron

Definition at line 2170 of file CPolyhedron.cpp.

References CreateIcosidodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateRhombicuboctahedron()

CPolyhedron::Ptr CPolyhedron::CreateRhombicuboctahedron ( double  radius,
bool  type = true 
)
static

Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola.

It can also be calculated as a cantellated hexahedron or octahedron, and its dual is the deltoidal icositetrahedron. If the second argument is set to false, the lower cupola is rotated, so that the objet created is an elongated square gyrobicupola (see http://en.wikipedia.org/wiki/Elongated_square_gyrobicupola). This is not an archimedean solid, but a Johnson one, since it hasn't got vertex transitivity.

See also
CreateJohnsonSolidWithConstantBase,CreateHexahedron,CreateOctahedron,cantellate,CreateCuboctahedron,CreateDeltoidalIcositetrahedron

Definition at line 2118 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().

Referenced by CreateDeltoidalIcositetrahedron(), and CreateRandomPolyhedron().

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◆ CreateTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTetrahedron ( double  radius)
static

Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron).

The tetrahedron is created as a triangular pyramid whose edges and vertices are transitive. The tetrahedron is the dual to itself.

See also
CreatePyramid,CreateJohnsonSolidWithConstantBase,CreateTruncatedTetrahedron

Definition at line 2073 of file CPolyhedron.cpp.

References CreateJohnsonSolidWithConstantBase().

Referenced by CreateRandomPolyhedron(), and CreateTruncatedTetrahedron().

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◆ CreateTetrakisHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateTetrakisHexahedron ( double  radius)
static

Creates a tetrakis hexahedron, dual to the truncated octahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Tetrakis_hexahedron).

See also
CreateTruncatedOctahedron

Definition at line 2161 of file CPolyhedron.cpp.

References CreateTruncatedOctahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTrapezohedron()

CPolyhedron::Ptr CPolyhedron::CreateTrapezohedron ( uint32_t  numBaseEdges,
double  baseRadius,
double  basesDistance 
)
static

Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base.

The base radius controls the polyhedron height, whilst the distance between bases affects the height. When the number of edges equals 3, the polyhedron is actually a parallelepiped, and it can even be a cube.

Definition at line 773 of file CPolyhedron.cpp.

References CreateEmpty(), CreateNoCheck(), M_PI, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

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◆ CreateTriakisIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisIcosahedron ( double  radius)
static

Creates a triakis icosahedron, dual to the truncated dodecahedron.

This body consists of 60 isosceles triangles http://en.wikipedia.org/wiki/Triakis_icosahedron).

See also
CreateTruncatedDodecahedron

Definition at line 2175 of file CPolyhedron.cpp.

References CreateTruncatedDodecahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTriakisOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisOctahedron ( double  radius)
static

Creates a triakis octahedron, dual to the truncated hexahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_octahedron).

See also
CreateTruncatedHexahedron

Definition at line 2157 of file CPolyhedron.cpp.

References CreateTruncatedHexahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTriakisTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTriakisTetrahedron ( double  radius)
static

Creates a triakis tetrahedron, dual to the truncated tetrahedron.

This body consists of 12 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_tetrahedron).

See also
CreateTruncatedTetrahedron

Definition at line 2149 of file CPolyhedron.cpp.

References CreateTruncatedTetrahedron().

Referenced by CreateRandomPolyhedron().

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◆ CreateTruncatedDodecahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedDodecahedron ( double  radius)
static

Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron).

The truncated dodecahedron is the dual to the triakis icosahedron.

See also
CreateDodecahedron,CreateTriakisIcosahedron

Definition at line 2130 of file CPolyhedron.cpp.

References CreateDodecahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisIcosahedron().

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◆ CreateTruncatedHexahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedHexahedron ( double  radius)
static

Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron).

The truncated octahedron is dual to the triakis octahedron.

See also
CreateHexahedron,CreateTriakisOctahedron

Definition at line 2109 of file CPolyhedron.cpp.

References CreateHexahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisOctahedron().

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◆ CreateTruncatedIcosahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedIcosahedron ( double  radius)
static

Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons.

This object resembles a typical soccer ball (see http://en.wikipedia.org/wiki/Truncated_icosahedron). The pentakis dodecahedron is the dual to the truncated icosahedron.

See also
CreateIcosahedron,CreatePentakisDodecahedron

Definition at line 2135 of file CPolyhedron.cpp.

References CreateIcosahedron().

Referenced by CreatePentakisDodecahedron(), and CreateRandomPolyhedron().

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◆ CreateTruncatedOctahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedOctahedron ( double  radius)
static

Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron).

It's the dual to the tetrakis hexahedron.

See also
CreateOctahedron,CreateTetrakisHexahedron

Definition at line 2114 of file CPolyhedron.cpp.

References CreateOctahedron().

Referenced by CreateRandomPolyhedron(), and CreateTetrakisHexahedron().

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◆ CreateTruncatedPyramid()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedPyramid ( const std::vector< mrpt::math::TPoint2D > &  baseVertices,
double  height,
double  ratio 
)
static

Creates a truncated pyramid, using a set of vertices which will lie on the XY plane.

Do not try to use with a ratio equal to zero; use CreatePyramid instead. When using a ratio of 1, it will create a Prism.

See also
CreatePyramid,CreateBifrustum

Definition at line 620 of file CPolyhedron.cpp.

References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by CreateCustomPrism(), CreateFrustum(), and CreateRegularTruncatedPyramid().

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◆ CreateTruncatedTetrahedron()

CPolyhedron::Ptr CPolyhedron::CreateTruncatedTetrahedron ( double  radius)
static

Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron).

Its dual is the triakis tetrahedron.

See also
CreateTetrahedron,CreateTriakisTetrahedron

Definition at line 2101 of file CPolyhedron.cpp.

References CreateTetrahedron().

Referenced by CreateRandomPolyhedron(), and CreateTriakisTetrahedron().

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◆ CreateUnique()

template<typename... Args>
static UniquePtr mrpt::opengl::CPolyhedron::CreateUnique ( Args &&...  args)
inlinestatic

Definition at line 45 of file CPolyhedron.h.

◆ duplicateGetSmartPtr()

mrpt::rtti::CObject::Ptr CObject::duplicateGetSmartPtr ( ) const
inlineinherited

Makes a deep copy of the object and returns a smart pointer to it.

Definition at line 204 of file CObject.h.

References mrpt::rtti::CObject::clone().

Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().

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◆ edgesInVertex()

size_t CPolyhedron::edgesInVertex ( size_t  vertex) const
private

Returns how many edges converge in a given vertex.

Definition at line 1943 of file CPolyhedron.cpp.

References mEdges.

◆ enableShowName()

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

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

Definition at line 82 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

◆ facesInVertex()

size_t CPolyhedron::facesInVertex ( size_t  vertex) const
private

Returns how many faces converge in a given vertex.

Definition at line 1951 of file CPolyhedron.cpp.

References mrpt::containers::find(), and mFaces.

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◆ generateBase() [1/2]

vector< TPoint2D > CPolyhedron::generateBase ( uint32_t  numBaseEdges,
double  baseRadius 
)
staticprivate

Generates a list of 2D vertices constituting a regular polygon.

Definition at line 1834 of file CPolyhedron.cpp.

References M_PI.

Referenced by CreateRegularAntiprism(), CreateRegularBifrustum(), CreateRegularDoublePyramid(), CreateRegularPrism(), CreateRegularPyramid(), and CreateRegularTruncatedPyramid().

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◆ generateBase() [2/2]

void CPolyhedron::generateBase ( uint32_t  numBaseEdges,
double  baseRadius,
double  height,
std::vector< mrpt::math::TPoint3D > &  vec 
)
staticprivate

Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector.

Definition at line 1861 of file CPolyhedron.cpp.

References M_PI.

◆ generateShiftedBase() [1/2]

vector< TPoint2D > CPolyhedron::generateShiftedBase ( uint32_t  numBaseEdges,
double  baseRadius 
)
staticprivate

Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms.

Definition at line 1847 of file CPolyhedron.cpp.

References M_PI.

Referenced by CreateJohnsonSolidWithConstantBase(), and CreateRegularAntiprism().

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◆ generateShiftedBase() [2/2]

void CPolyhedron::generateShiftedBase ( uint32_t  numBaseEdges,
double  baseRadius,
double  height,
double  shift,
std::vector< mrpt::math::TPoint3D > &  vec 
)
staticprivate

Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector.

Definition at line 1872 of file CPolyhedron.cpp.

References M_PI.

◆ getBoundingBox()

void CPolyhedron::getBoundingBox ( mrpt::math::TPoint3D bb_min,
mrpt::math::TPoint3D bb_max 
) const
overridevirtual

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

Implements mrpt::opengl::CRenderizable.

Definition at line 2020 of file CPolyhedron.cpp.

References bb_max, bb_min, mrpt::poses::CPose3D::composePoint(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getCenter()

void CPolyhedron::getCenter ( mrpt::math::TPoint3D center) const

Gets the center of the polyhedron.

Definition at line 1179 of file CPolyhedron.cpp.

References mVertices, mrpt::math::TPoint3D_data::x, mrpt::math::TPoint3D_data::y, and mrpt::math::TPoint3D_data::z.

Referenced by augment(), cantellate(), getVolume(), and setNormal().

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◆ getClassName()

static constexpr auto mrpt::opengl::CPolyhedron::getClassName ( )
inlinestatic

Definition at line 45 of file CPolyhedron.h.

◆ getColor()

mrpt::img::TColorf mrpt::opengl::CRenderizable::getColor ( ) const
inlineinherited

Returns the object color property as a TColorf.

Definition at line 231 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels(), and mrpt::maps::COccupancyGridMap3D::getAsOctoMapVoxels().

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◆ getColor_u8()

const mrpt::img::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const
inlineinherited

Returns the object color property as a TColor.

Definition at line 250 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color.

◆ getColorA()

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

Color components in the range [0,1].

Definition at line 154 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorA_u8()

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

Color components in the range [0,255].

Definition at line 162 of file CRenderizable.h.

References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.

◆ getColorB()

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

Color components in the range [0,1].

Definition at line 152 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorB_u8()

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

Color components in the range [0,255].

Definition at line 160 of file CRenderizable.h.

References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.

◆ getColorG()

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

Color components in the range [0,1].

Definition at line 150 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

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

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◆ getColorG_u8()

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

Color components in the range [0,255].

Definition at line 158 of file CRenderizable.h.

References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.

◆ getColorR()

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

Color components in the range [0,1].

Definition at line 148 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

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

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◆ getColorR_u8()

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

Color components in the range [0,255].

Definition at line 156 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.

◆ getDual()

CPolyhedron::Ptr CPolyhedron::getDual ( ) const

Given a polyhedron, creates its dual.

See also
truncate,cantellate,augment
Exceptions
std::logic_errorCan't get the dual to this polyhedron.

Definition at line 1298 of file CPolyhedron.cpp.

References mrpt::math::TPlane::coefs, faceContainsEdge(), getPlanesIntersection(), mEdges, mFaces, mVertices, mrpt::square(), and val.

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◆ getEdges()

void mrpt::opengl::CPolyhedron::getEdges ( std::vector< TPolyhedronEdge > &  edges) const
inline

Gets a list with the polyhedron's edges.

Definition at line 660 of file CPolyhedron.h.

◆ getEdgesLength()

void CPolyhedron::getEdgesLength ( std::vector< double > &  lengths) const

Gets a vector with each edge's length.

Definition at line 1099 of file CPolyhedron.cpp.

References mEdges, and mVertices.

◆ getFaces()

void mrpt::opengl::CPolyhedron::getFaces ( std::vector< TPolyhedronFace > &  faces) const
inline

Gets a list with the polyhedron's faces.

Definition at line 667 of file CPolyhedron.h.

◆ getFacesArea()

void CPolyhedron::getFacesArea ( std::vector< double > &  areas) const

Gets a vector with each face's area.

Won't work properly if the polygons are not convex.

Definition at line 1107 of file CPolyhedron.cpp.

References mFaces, and mVertices.

Referenced by getVolume().

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◆ getIntersection()

template<class T >
size_t mrpt::opengl::CPolyhedron::getIntersection ( const CPolyhedron::Ptr p1,
const CPolyhedron::Ptr p2,
T &  container 
)
inlinestatic

Gets the intersection of two polyhedra, either as a set or as a matrix of intersections.

Each intersection is represented by a TObject3D.

See also
mrpt::math::TObject3D

Definition at line 939 of file CPolyhedron.h.

References mrpt::math::intersect().

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◆ getLineWidth()

double mrpt::opengl::CPolyhedron::getLineWidth ( ) const
inline

Gets the wireframe lines width.

Definition at line 712 of file CPolyhedron.h.

◆ getName()

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

Returns the name of the object.

Definition at line 67 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

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

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◆ getNewTextureNumber()

unsigned int CRenderizable::getNewTextureNumber ( )
staticprotectedinherited

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 65 of file CRenderizable.cpp.

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

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◆ getNumberOfEdges()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfEdges ( ) const
inline

Gets the amount of edges.

Definition at line 678 of file CPolyhedron.h.

References mVertices.

◆ getNumberOfFaces()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfFaces ( ) const
inline

Gets the amount of faces.

Definition at line 682 of file CPolyhedron.h.

References mEdges.

◆ getNumberOfVertices()

uint32_t mrpt::opengl::CPolyhedron::getNumberOfVertices ( ) const
inline

Gets the amount of vertices.

Definition at line 674 of file CPolyhedron.h.

◆ getPose()

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

Returns the 3D pose of the object as TPose3D.

Definition at line 282 of file CRenderizable.cpp.

References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.

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◆ getPosePitch()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 138 of file CRenderizable.h.

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

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◆ getPosePitchRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 144 of file CRenderizable.h.

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

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◆ getPoseRef()

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

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 108 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

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

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◆ getPoseRoll()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 140 of file CRenderizable.h.

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

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◆ getPoseRollRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 146 of file CRenderizable.h.

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

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◆ getPoseX()

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

Translation relative to parent coordinate origin.

Definition at line 130 of file CRenderizable.h.

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

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◆ getPoseY()

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

Translation relative to parent coordinate origin.

Definition at line 132 of file CRenderizable.h.

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

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◆ getPoseYaw()

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

Rotation relative to parent coordinate origin, in DEGREES.

Definition at line 136 of file CRenderizable.h.

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

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◆ getPoseYawRad()

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

Rotation relative to parent coordinate origin, in radians.

Definition at line 142 of file CRenderizable.h.

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

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◆ getPoseZ()

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

Translation relative to parent coordinate origin.

Definition at line 134 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_pose.

◆ GetRuntimeClass()

virtual const mrpt::rtti::TRuntimeClassId* mrpt::opengl::CPolyhedron::GetRuntimeClass ( ) const
overridevirtual

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

◆ GetRuntimeClassIdStatic()

static const mrpt::rtti::TRuntimeClassId& mrpt::opengl::CPolyhedron::GetRuntimeClassIdStatic ( )
static

◆ getScaleX()

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

Get the current scaling factor in one axis.

Definition at line 225 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x.

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

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◆ getScaleY()

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

Get the current scaling factor in one axis.

Definition at line 227 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_y.

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

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◆ getScaleZ()

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

Get the current scaling factor in one axis.

Definition at line 229 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_z.

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

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◆ getSetOfPolygons()

void CPolyhedron::getSetOfPolygons ( std::vector< math::TPolygon3D > &  vec) const

Gets the polyhedron as a set of polygons.

See also
mrpt::math::TPolygon3D

Definition at line 1135 of file CPolyhedron.cpp.

References polygonsUpToDate, tempPolygons, and updatePolygons().

Referenced by cantellate(), and makeConvexPolygons().

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◆ getSetOfPolygonsAbsolute()

void CPolyhedron::getSetOfPolygonsAbsolute ( std::vector< math::TPolygon3D > &  vec) const

Gets the polyhedron as a set of polygons, with the pose transformation already applied.

See also
mrpt::math::TPolygon3D,mrpt::poses::CPose3D

Definition at line 1143 of file CPolyhedron.cpp.

References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mFaces, and mVertices.

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◆ getVertices()

void mrpt::opengl::CPolyhedron::getVertices ( std::vector< mrpt::math::TPoint3D > &  vertices) const
inline

Gets a list with the polyhedron's vertices.

Definition at line 653 of file CPolyhedron.h.

◆ getVolume()

double CPolyhedron::getVolume ( ) const

Gets the polyhedron volume.

Won't work properly if the polyhedron is not convex.

Definition at line 1115 of file CPolyhedron.cpp.

References getCenter(), getFacesArea(), mFaces, polygonsUpToDate, tempPolygons, and updatePolygons().

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◆ InitFromVertAndFaces()

void mrpt::opengl::CPolyhedron::InitFromVertAndFaces ( const std::vector< mrpt::math::TPoint3D > &  vertices,
const std::vector< TPolyhedronFace > &  faces,
bool  doCheck = true 
)
inline

Definition at line 901 of file CPolyhedron.h.

Referenced by CPolyhedron().

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◆ isClosed()

bool mrpt::opengl::CPolyhedron::isClosed ( ) const
inline

Returns true if the polygon is a completely closed object.

Definition at line 743 of file CPolyhedron.h.

◆ isShowNameEnabled()

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const
inlineinherited
See also
enableShowName

Definition at line 84 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_show_name.

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

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◆ isVisible()

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

Is the object visible?

See also
setVisibility

Definition at line 68 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

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

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◆ isWireframe()

bool mrpt::opengl::CPolyhedron::isWireframe ( ) const
inline

Returns whether the polyhedron will be rendered as a wireframe object.

Definition at line 700 of file CPolyhedron.h.

◆ makeConvexPolygons()

void CPolyhedron::makeConvexPolygons ( )

Recomputes polygons, if necessary, so that each one is convex.

Definition at line 1157 of file CPolyhedron.cpp.

References addEdges(), getSetOfPolygons(), getVerticesAndFaces(), mEdges, mFaces, mVertices, setNormal(), and mrpt::math::splitInConvexComponents().

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◆ notifyChange()

void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const
inlineprotectedinherited

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 54 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::m_dl_recreate.

Referenced by mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtEnd(), mrpt::opengl::CGeneralizedCylinder::addVisibleSectionAtStart(), mrpt::opengl::CMeshFast::adjustGridToImageAR(), mrpt::opengl::CMesh::adjustGridToImageAR(), mrpt::opengl::CVectorField2D::adjustVectorFieldToGrid(), mrpt::opengl::CSetOfLines::appendLine(), mrpt::opengl::CSetOfLines::appendLines(), mrpt::opengl::CTexturedObject::assignImage(), mrpt::opengl::CMeshFast::assignImage(), mrpt::opengl::CMesh::assignImage(), mrpt::opengl::CTexturedObject::assignImage_fast(), mrpt::opengl::CMeshFast::assignImageAndZ(), mrpt::opengl::CMesh::assignImageAndZ(), mrpt::opengl::CSetOfLines::begin(), mrpt::opengl::CSetOfLines::clear(), mrpt::opengl::CVectorField2D::clear(), mrpt::opengl::CAssimpModel::clear(), mrpt::opengl::CPlanarLaserScan::clear(), mrpt::opengl::CVectorField3D::clear(), mrpt::opengl::COctoMapVoxels::clear(), mrpt::opengl::CSetOfTexturedTriangles::clearTriangles(), mrpt::opengl::CSetOfTriangles::clearTriangles(), mrpt::opengl::COpenGLStandardObject::disable(), mrpt::opengl::COpenGLStandardObject::enable(), mrpt::opengl::CSimpleLine::enableAntiAliasing(), mrpt::opengl::CGridPlaneXZ::enableAntiAliasing(), mrpt::opengl::CGridPlaneXY::enableAntiAliasing(), mrpt::opengl::CMesh3D::enableAntiAliasing(), mrpt::opengl::CSetOfLines::enableAntiAliasing(), mrpt::opengl::CVectorField2D::enableAntiAliasing(), mrpt::opengl::CVectorField3D::enableAntiAliasing(), mrpt::opengl::CBox::enableBoxBorder(), mrpt::opengl::CVectorField3D::enableColorFromModule(), mrpt::opengl::CMeshFast::enableColorFromZ(), mrpt::opengl::CMesh::enableColorFromZ(), mrpt::opengl::COctoMapVoxels::enableCubeTransparency(), mrpt::opengl::CColorBar::enableDepthTest(), mrpt::opengl::CEllipsoid::enableDrawSolid3D(), mrpt::opengl::CMesh3D::enableFaceNormals(), mrpt::opengl::COctoMapVoxels::enableLights(), mrpt::opengl::CPlanarLaserScan::enableLine(), mrpt::opengl::CPlanarLaserScan::enablePoints(), mrpt::opengl::CSphere::enableRadiusIndependentOfEyeDistance(), mrpt::opengl::CMesh3D::enableShowEdges(), mrpt::opengl::CMesh3D::enableShowFaces(), mrpt::opengl::CVectorField3D::enableShowPoints(), mrpt::opengl::CMesh3D::enableShowVertices(), mrpt::opengl::CPlanarLaserScan::enableSurface(), mrpt::opengl::CAxis::enableTickMarks(), mrpt::opengl::CMesh3D::enableTransparency(), mrpt::opengl::CMeshFast::enableTransparency(), mrpt::opengl::CMesh::enableTransparency(), mrpt::opengl::CSetOfTriangles::enableTransparency(), mrpt::opengl::CAngularObservationMesh::enableTransparency(), mrpt::opengl::CMesh::enableWireFrame(), mrpt::opengl::CSetOfLines::end(), mrpt::opengl::COctoMapVoxels::getGridCubeRef(), mrpt::opengl::CSetOfTexturedTriangles::getTriangle(), mrpt::opengl::COctoMapVoxels::getVoxel(), mrpt::opengl::COctoMapVoxels::getVoxelRef(), mrpt::opengl::CSetOfTexturedTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangle(), mrpt::opengl::CSetOfTriangles::insertTriangles(), mrpt::opengl::CMesh3D::loadMesh(), mrpt::opengl::CAssimpModel::loadScene(), mrpt::opengl::COctoMapVoxels::push_back_GridCube(), mrpt::opengl::COctoMapVoxels::push_back_Voxel(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), mrpt::opengl::CTexturedObject::readFromStreamTexturedObject(), mrpt::opengl::CSetOfTriangles::reserve(), mrpt::opengl::CSetOfLines::reserve(), mrpt::opengl::COctoMapVoxels::reserveVoxels(), mrpt::opengl::CSetOfLines::resize(), mrpt::opengl::CVectorField2D::resize(), mrpt::opengl::CVectorField3D::resize(), mrpt::opengl::COctoMapVoxels::resizeGridCubes(), mrpt::opengl::COctoMapVoxels::resizeVoxels(), mrpt::opengl::COctoMapVoxels::resizeVoxelSets(), mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CSetOfTriangles::serializeFrom(), mrpt::opengl::COpenGLStandardObject::serializeFrom(), mrpt::opengl::CSphere::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CAxis::serializeFrom(), mrpt::opengl::CDisk::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CColorBar::serializeFrom(), mrpt::opengl::CMesh::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CMeshFast::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CAssimpModel::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), serializeFrom(), mrpt::opengl::CEllipsoid::serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), mrpt::opengl::COctoMapVoxels::serializeFrom(), mrpt::opengl::CEllipsoid::set2DsegmentsCount(), mrpt::opengl::CEllipsoid::set3DsegmentsCount(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsInvisible(), mrpt::opengl::CGeneralizedCylinder::setAllSectionsVisible(), mrpt::opengl::CArrow::setArrowEnds(), mrpt::opengl::CArrow::setArrowYawPitchRoll(), mrpt::opengl::CGeneralizedCylinder::setAxis(), mrpt::opengl::CAxis::setAxisLimits(), mrpt::opengl::CBox::setBoxBorderColor(), mrpt::opengl::CBox::setBoxCorners(), mrpt::opengl::CGeneralizedCylinder::setClosed(), mrpt::opengl::CRenderizableDisplayList::setColor_u8(), mrpt::opengl::CSetOfTriangles::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CSetOfTriangles::setColorA_u8(), mrpt::opengl::CColorBar::setColorAndValueLimits(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CSetOfTriangles::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CSetOfTriangles::setColorG_u8(), mrpt::opengl::CColorBar::setColormap(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CSetOfTriangles::setColorR_u8(), mrpt::opengl::CEllipsoid::setCovMatrix(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setCovMatrixAndMean(), mrpt::opengl::CDisk::setDiskRadius(), mrpt::opengl::COpenGLStandardObject::setFlags(), mrpt::opengl::CText3D::setFont(), mrpt::opengl::CAxis::setFrequency(), mrpt::opengl::CGeneralizedCylinder::setGeneratrix(), mrpt::opengl::CVectorField2D::setGridCenterAndCellSize(), mrpt::opengl::CGridPlaneXZ::setGridFrequency(), mrpt::opengl::CGridPlaneXY::setGridFrequency(), mrpt::opengl::CMeshFast::setGridLimits(), mrpt::opengl::CMesh::setGridLimits(), mrpt::opengl::CVectorField2D::setGridLimits(), mrpt::opengl::COctoMapVoxels::setGridLinesColor(), mrpt::opengl::COctoMapVoxels::setGridLinesWidth(), mrpt::opengl::CCylinder::setHasBases(), mrpt::opengl::CArrow::setHeadRatio(), mrpt::opengl::CCylinder::setHeight(), mrpt::opengl::CFrustum::setHorzFOV(), mrpt::opengl::CFrustum::setHorzFOVAsymmetric(), mrpt::opengl::CArrow::setLargeRadius(), mrpt::opengl::CSetOfLines::setLineByIndex(), mrpt::opengl::CSimpleLine::setLineCoords(), mrpt::opengl::CSimpleLine::setLineWidth(), mrpt::opengl::CGridPlaneXY::setLineWidth(), mrpt::opengl::CGridPlaneXZ::setLineWidth(), mrpt::opengl::CAxis::setLineWidth(), mrpt::opengl::CSetOfLines::setLineWidth(), mrpt::opengl::CFrustum::setLineWidth(), mrpt::opengl::CBox::setLineWidth(), mrpt::opengl::CVectorField2D::setLineWidth(), mrpt::opengl::CEllipsoid::setLineWidth(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setLineWidth(), mrpt::opengl::CVectorField3D::setLineWidth(), mrpt::opengl::CDisk::setLoopsCount(), mrpt::opengl::CMesh::setMask(), mrpt::opengl::CVectorField3D::setMaxSpeedForColor(), mrpt::opengl::CVectorField3D::setMotionFieldColormap(), mrpt::opengl::CFrustum::setNearFarPlanes(), mrpt::opengl::COpenGLStandardObject::setNormal(), mrpt::opengl::CSphere::setNumberDivsLatitude(), mrpt::opengl::CSphere::setNumberDivsLongitude(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setNumberOfSegments(), mrpt::opengl::CFrustum::setPlaneColor(), mrpt::opengl::CTexturedPlane::setPlaneCorners(), mrpt::opengl::CGridPlaneXY::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXZ::setPlaneYcoord(), mrpt::opengl::CGridPlaneXY::setPlaneZcoord(), mrpt::opengl::CVectorField2D::setPointColor(), mrpt::opengl::CVectorField3D::setPointColor(), mrpt::opengl::CVectorField3D::setPointCoordinates(), mrpt::opengl::CVectorField2D::setPointSize(), mrpt::opengl::CVectorField3D::setPointSize(), mrpt::opengl::CEllipsoid::setQuantiles(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::setQuantiles(), mrpt::opengl::CCylinder::setRadii(), mrpt::opengl::CSphere::setRadius(), mrpt::opengl::CCylinder::setRadius(), mrpt::opengl::CPlanarLaserScan::setScan(), mrpt::opengl::CDisk::setSlicesCount(), mrpt::opengl::CCylinder::setSlicesCount(), mrpt::opengl::CArrow::setSmallRadius(), mrpt::opengl::CCylinder::setStacksCount(), mrpt::opengl::CText3D::setString(), mrpt::opengl::CText3D::setTextKerning(), mrpt::opengl::CAxis::setTextScale(), mrpt::opengl::CText3D::setTextSpacing(), mrpt::opengl::CText3D::setTextStyle(), mrpt::opengl::CTexturedPlane::setTextureCornerCoords(), mrpt::opengl::CAxis::setTickMarksLength(), mrpt::opengl::CMesh::setUV(), mrpt::opengl::CVectorField2D::setVectorField(), mrpt::opengl::CVectorField3D::setVectorField(), mrpt::opengl::CVectorField2D::setVectorFieldColor(), mrpt::opengl::CVectorField3D::setVectorFieldColor(), mrpt::opengl::CFrustum::setVertFOV(), mrpt::opengl::CFrustum::setVertFOVAsymmetric(), mrpt::opengl::CSetOfLines::setVerticesPointSize(), mrpt::opengl::CGeneralizedCylinder::setVisibleSections(), mrpt::opengl::COctoMapVoxels::setVisualizationMode(), mrpt::opengl::COctoMapVoxels::setVoxelAsPointsSize(), mrpt::opengl::CBox::setWireframe(), mrpt::opengl::CAngularObservationMesh::setWireframe(), mrpt::opengl::CMeshFast::setXBounds(), mrpt::opengl::CMesh::setXBounds(), mrpt::opengl::CMeshFast::setXMax(), mrpt::opengl::CMesh::setXMax(), mrpt::opengl::CMeshFast::setXMin(), mrpt::opengl::CMesh::setXMin(), mrpt::opengl::CMeshFast::setYBounds(), mrpt::opengl::CMesh::setYBounds(), mrpt::opengl::CMeshFast::setYMax(), mrpt::opengl::CMesh::setYMax(), mrpt::opengl::CMeshFast::setYMin(), mrpt::opengl::CMesh::setYMin(), mrpt::opengl::CMeshFast::setZ(), mrpt::opengl::CMesh::setZ(), mrpt::opengl::COctoMapVoxels::showGridLines(), mrpt::opengl::COctoMapVoxels::showVoxels(), mrpt::opengl::COctoMapVoxels::showVoxelsAsPoints(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::thisclass_readFromStream(), mrpt::opengl::CMesh::updateColorsMatrix(), mrpt::opengl::CMeshFast::updateColorsMatrix(), mrpt::opengl::CMeshFast::updatePoints(), mrpt::opengl::CSetOfTriangles::updatePolygons(), mrpt::opengl::CMesh::updatePolygons(), and mrpt::opengl::CMesh::updateTriangles().

◆ readFromStreamRender()

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::serialization::CArchive in)
inlineprotectedinherited

Definition at line 62 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().

Referenced by mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().

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◆ releaseTextureName()

void CRenderizable::releaseTextureName ( unsigned int  i)
staticprotectedinherited

Definition at line 93 of file CRenderizable.cpp.

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

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◆ render()

void CRenderizableDisplayList::render ( ) const
overridevirtualinherited

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

Definition at line 80 of file CRenderizableDisplayList.cpp.

References TAuxDLData::getSingleton(), GL_COMPILE, GL_NO_ERROR, glCallList(), glDeleteLists(), glEndList(), glGenLists(), glGetError(), glNewList(), INVALID_DISPLAY_LIST_ID, mrpt::opengl::CRenderizableDisplayList::m_dl, mrpt::opengl::CRenderizableDisplayList::m_dl_recreate, mrpt::opengl::CRenderizableDisplayList::render_dl(), and mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache().

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◆ render_dl()

void CPolyhedron::render_dl ( ) const
overridevirtual

◆ renderTextBitmap() [1/2]

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

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

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

Definition at line 306 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 
)
staticinherited

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 332 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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◆ rotate()

CPolyhedron::Ptr CPolyhedron::rotate ( double  angle) const

Rotates a polyhedron around the Z axis a given amount of radians.

In some cases, this operation may be necessary to view the symmetry between related objects.

See also
scale

Definition at line 1807 of file CPolyhedron.cpp.

References CreateNoCheck(), mFaces, mVertices, and A::x.

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◆ scale()

CPolyhedron::Ptr CPolyhedron::scale ( double  factor) const

Scales a polyhedron to a given factor.

Exceptions
std::logic_errorfactor is not a strictly positive number.
See also
rotate

Definition at line 1821 of file CPolyhedron.cpp.

References CreateNoCheck(), mFaces, and mVertices.

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◆ serializeFrom() [1/2]

void CPolyhedron::serializeFrom ( mrpt::serialization::CArchive in,
uint8_t  serial_version 
)
overrideprotectedvirtual

Pure virtual method for reading (deserializing) from an abstract archive.

Users don't call this method directly. Instead, use stream >> object;.

Parameters
inThe input binary stream where the object data must read from.
versionThe 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::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 1997 of file CPolyhedron.cpp.

References addEdges(), checkConsistence(), mFaces, mLineWidth, MRPT_THROW_UNKNOWN_SERIALIZATION_VERSION, mVertices, mWireframe, mrpt::opengl::CRenderizableDisplayList::notifyChange(), mrpt::opengl::CRenderizableDisplayList::readFromStreamRender(), and setNormal().

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◆ serializeFrom() [2/2]

virtual void mrpt::serialization::CSerializable::serializeFrom ( CSchemeArchiveBase in)
inlineprotectedvirtualinherited

Virtual method for reading (deserializing) from an abstract schema based archive.

Definition at line 74 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ serializeGetVersion()

uint8_t CPolyhedron::serializeGetVersion ( ) const
overrideprotectedvirtual

Must return the current versioning number of the object.

Start in zero for new classes, and increments each time there is a change in the stored format.

Implements mrpt::serialization::CSerializable.

Definition at line 1989 of file CPolyhedron.cpp.

◆ serializeTo() [1/2]

void CPolyhedron::serializeTo ( mrpt::serialization::CArchive out) const
overrideprotectedvirtual

Pure virtual method for writing (serializing) to an abstract archive.

Users don't call this method directly. Instead, use stream << object;.

Exceptions
std::exceptionOn any I/O error

Implements mrpt::serialization::CSerializable.

Definition at line 1990 of file CPolyhedron.cpp.

References mFaces, mLineWidth, mVertices, mWireframe, out, and mrpt::opengl::CRenderizable::writeToStreamRender().

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◆ serializeTo() [2/2]

virtual void mrpt::serialization::CSerializable::serializeTo ( CSchemeArchiveBase out) const
inlineprotectedvirtualinherited

Virtual method for writing (serializing) to an abstract schema based archive.

Definition at line 64 of file CSerializable.h.

References mrpt::serialization::CSerializable::GetRuntimeClass(), and THROW_EXCEPTION.

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◆ setColor() [1/2]

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::img::TColorf c)
inlineinherited

Changes the default object color.

Returns
a ref to this

Definition at line 236 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::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 
)
inlineinherited

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

Returns
a ref to this

Definition at line 244 of file CRenderizable.h.

References G, R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [1/2]

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::img::TColor c)
inlineoverridevirtualinherited

Changes the default object color.

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 110 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColor_u8() [2/2]

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

Color components in the range [0,255].

Returns
a ref to this

Definition at line 117 of file CRenderizableDisplayList.h.

References G, mrpt::opengl::CRenderizableDisplayList::notifyChange(), R, and mrpt::opengl::CRenderizable::setColor_u8().

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◆ setColorA()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 179 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorA_u8().

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◆ setColorA_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t  a)
inlineoverridevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 103 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::A, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

Referenced by mrpt::nav::ClearanceDiagram::renderAs3DObject().

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◆ setColorB()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 174 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorB_u8().

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◆ setColorB_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t  b)
inlineoverridevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 96 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setColorG()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 169 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorG_u8().

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◆ setColorG_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t  g)
inlineoverridevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 89 of file CRenderizableDisplayList.h.

References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().

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◆ setColorR()

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

Color components in the range [0,1].

Returns
a ref to this

Definition at line 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColorR_u8().

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◆ setColorR_u8()

CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t  r)
inlineoverridevirtualinherited

Color components in the range [0,255].

Returns
a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 82 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::img::TColor::R.

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◆ setLineWidth()

void mrpt::opengl::CPolyhedron::setLineWidth ( double  lineWidth)
inline

Sets the width used to render lines, when wireframe rendering is activated.

Definition at line 717 of file CPolyhedron.h.

References mLineWidth.

◆ setLocation() [1/2]

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

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

Returns
a ref to this

Definition at line 111 of file CRenderizable.h.

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

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◆ setLocation() [2/2]

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

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

Returns
a ref to this

Definition at line 121 of file CRenderizable.h.

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

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◆ setName()

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

Changes the name of the object.

Definition at line 65 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_name.

◆ setNormal()

bool CPolyhedron::setNormal ( TPolyhedronFace f,
bool  doCheck = true 
)
private

Calculates the normal vector to a face.

Definition at line 1892 of file CPolyhedron.cpp.

References getCenter(), mrpt::math::TPlane::getNormalVector(), mrpt::math::TPolygon3D::getPlane(), mVertices, mrpt::opengl::CPolyhedron::TPolyhedronFace::normal, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

Referenced by makeConvexPolygons(), and serializeFrom().

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◆ setPose() [1/6]

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

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

Definition at line 248 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().

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◆ setPose() [2/6]

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

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

Definition at line 253 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [3/6]

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

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

Definition at line 258 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [4/6]

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

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

Definition at line 263 of file CRenderizable.cpp.

References mrpt::opengl::CRenderizable::m_pose.

◆ setPose() [5/6]

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

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 270 of file CRenderizable.cpp.

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

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◆ setPose() [6/6]

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

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 276 of file CRenderizable.cpp.

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

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◆ setScale() [1/2]

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

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

Returns
a ref to this

Definition at line 210 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setScale() [2/2]

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

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

Returns
a ref to this

Definition at line 217 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.

◆ setVisibility()

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

Set object visibility (default=true)

See also
isVisible

Definition at line 73 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::m_visible.

◆ setWireframe()

void mrpt::opengl::CPolyhedron::setWireframe ( bool  enabled = true)
inline

Sets whether the polyhedron will be rendered as a wireframe object.

Definition at line 704 of file CPolyhedron.h.

References mWireframe.

◆ should_skip_display_list_cache()

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const
inlineprotectedvirtualinherited

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 61 of file CRenderizableDisplayList.h.

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

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◆ textBitmapWidth()

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

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 315 of file CRenderizable.cpp.

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

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◆ traceRay()

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

Ray trace.

See also
CRenderizable

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 1093 of file CPolyhedron.cpp.

References mrpt::opengl::CRenderizable::m_pose, polygonsUpToDate, tempPolygons, mrpt::math::traceRay(), and updatePolygons().

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◆ truncate()

CPolyhedron::Ptr CPolyhedron::truncate ( double  factor) const

Truncates a polyhedron to a given factor.

See also
getDual,cantellate,augment
Exceptions
std::logic_errorPolyhedron truncation results in skew polygons and thus it's impossible to perform.

Definition at line 1374 of file CPolyhedron.cpp.

References CreateEmpty(), CreateNoCheck(), mEdges, mFaces, mVertices, searchForEdge(), searchForFace(), THROW_EXCEPTION, mrpt::opengl::CPolyhedron::TPolyhedronEdge::v1, and mrpt::opengl::CPolyhedron::TPolyhedronEdge::v2.

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◆ updatePolygons()

void CPolyhedron::updatePolygons ( ) const

Updates the mutable list of polygons used in rendering and ray tracing.

Definition at line 1883 of file CPolyhedron.cpp.

References mFaces, mVertices, polygonsUpToDate, and tempPolygons.

Referenced by getSetOfPolygons(), getVolume(), and traceRay().

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◆ writeToMatlab()

virtual mxArray* mrpt::serialization::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 90 of file CSerializable.h.

◆ writeToStreamRender()

void CRenderizable::writeToStreamRender ( mrpt::serialization::CArchive out) const
protectedinherited

Member Data Documentation

◆ className

constexpr const char* mrpt::opengl::CPolyhedron::className = "mrpt::opengl" "::" "CPolyhedron"
static

Definition at line 45 of file CPolyhedron.h.

◆ m_color

mrpt::img::TColor mrpt::opengl::CRenderizable::m_color
protectedinherited

◆ m_name

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

◆ m_pose

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

◆ m_scale_x

float mrpt::opengl::CRenderizable::m_scale_x {1}
protectedinherited

◆ m_scale_y

float mrpt::opengl::CRenderizable::m_scale_y {1}
protectedinherited

◆ m_scale_z

float mrpt::opengl::CRenderizable::m_scale_z {1}
protectedinherited

◆ m_show_name

bool mrpt::opengl::CRenderizable::m_show_name {false}
protectedinherited

◆ m_visible

bool mrpt::opengl::CRenderizable::m_visible {true}
protectedinherited

◆ mEdges

std::vector<TPolyhedronEdge> mrpt::opengl::CPolyhedron::mEdges
protected

List of polyhedron's edges.

Definition at line 110 of file CPolyhedron.h.

Referenced by addEdges(), cantellate(), edgesInVertex(), getDual(), getEdgesLength(), getNumberOfFaces(), makeConvexPolygons(), render_dl(), and truncate().

◆ mFaces

std::vector<TPolyhedronFace> mrpt::opengl::CPolyhedron::mFaces
protected

◆ mLineWidth

double mrpt::opengl::CPolyhedron::mLineWidth {1}
protected

When displaying as wireframe object, this variable stores the width of the edges.

Definition at line 124 of file CPolyhedron.h.

Referenced by render_dl(), serializeFrom(), serializeTo(), and setLineWidth().

◆ mVertices

std::vector<mrpt::math::TPoint3D> mrpt::opengl::CPolyhedron::mVertices
protected

◆ mWireframe

bool mrpt::opengl::CPolyhedron::mWireframe {false}
protected

This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges.

Definition at line 119 of file CPolyhedron.h.

Referenced by render_dl(), serializeFrom(), serializeTo(), and setWireframe().

◆ polygonsUpToDate

bool mrpt::opengl::CPolyhedron::polygonsUpToDate {false}
mutableprotected

Whether the set of actual polygons is up to date or not.

Definition at line 132 of file CPolyhedron.h.

Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().

◆ runtimeClassId

const mrpt::rtti::TRuntimeClassId mrpt::opengl::CPolyhedron::runtimeClassId
staticprotected

Definition at line 45 of file CPolyhedron.h.

◆ tempPolygons

std::vector<mrpt::math::TPolygonWithPlane> mrpt::opengl::CPolyhedron::tempPolygons
mutableprotected

Mutable list of actual polygons, maintained for speed.

Definition at line 128 of file CPolyhedron.h.

Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().




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