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
Definition at line 44 of file CPolyhedron.h.
#include <mrpt/opengl/CPolyhedron.h>
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 * | operator new (size_t size) |
| void * | operator new[] (size_t size) |
| void | operator delete (void *ptr) noexcept |
| void | operator delete[] (void *ptr) noexcept |
| void | operator delete (void *memory, void *ptr) noexcept |
| void * | operator new (size_t size, const std::nothrow_t &) noexcept |
| void | operator delete (void *ptr, const std::nothrow_t &) noexcept |
| 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 ¢er) 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) | |
| virtual | ~CPolyhedron () |
| Destructor. More... | |
| void | render () const override |
| Render the object, regenerating the display list if needed, otherwise just calling it. More... | |
| virtual mxArray * | writeToMatlab () const |
Introduces a pure virtual method responsible for writing to a mxArray Matlab object, typically a MATLAB struct whose contents are documented in each derived class. More... | |
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) | |
| CRenderizable & | setColorR_u8 (const uint8_t r) override |
| Color components in the range [0,255]. More... | |
| CRenderizable & | setColorG_u8 (const uint8_t g) override |
| Color components in the range [0,255]. More... | |
| CRenderizable & | setColorB_u8 (const uint8_t b) override |
| Color components in the range [0,255]. More... | |
| CRenderizable & | setColorA_u8 (const uint8_t a) override |
| Color components in the range [0,255]. More... | |
| CRenderizable & | setColor_u8 (const mrpt::img::TColor &c) override |
| Changes the default object color. More... | |
| CRenderizable & | setColor_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::string & | getName () const |
| Returns the name of the object. More... | |
| bool | isVisible () const |
| Is the object visible? More... | |
| void | setVisibility (bool visible=true) |
| Set object visibility (default=true) More... | |
| void | enableShowName (bool showName=true) |
| Enables or disables showing the name of the object as a label when rendering. More... | |
| bool | isShowNameEnabled () const |
| CRenderizable & | setPose (const mrpt::poses::CPose3D &o) |
| Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
| CRenderizable & | setPose (const mrpt::poses::CPose2D &o) |
| Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
| CRenderizable & | setPose (const mrpt::math::TPose3D &o) |
| Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
| CRenderizable & | setPose (const mrpt::math::TPose2D &o) |
| Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) More... | |
| CRenderizable & | setPose (const mrpt::poses::CPoint3D &o) |
| Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
| CRenderizable & | setPose (const mrpt::poses::CPoint2D &o) |
| Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) More... | |
| mrpt::math::TPose3D | getPose () const |
| Returns the 3D pose of the object as TPose3D. More... | |
| const mrpt::poses::CPose3D & | getPoseRef () const |
| Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) More... | |
| CRenderizable & | setLocation (double x, double y, double z) |
| Changes the location of the object, keeping untouched the orientation. More... | |
| CRenderizable & | setLocation (const mrpt::math::TPoint3D &p) |
| Changes the location of the object, keeping untouched the orientation. More... | |
| double | getPoseX () const |
| Translation relative to parent coordinate origin. More... | |
| double | getPoseY () const |
| Translation relative to parent coordinate origin. More... | |
| double | getPoseZ () const |
| Translation relative to parent coordinate origin. More... | |
| double | getPoseYaw () const |
| Rotation relative to parent coordinate origin, in DEGREES. More... | |
| double | getPosePitch () const |
| Rotation relative to parent coordinate origin, in DEGREES. More... | |
| double | getPoseRoll () const |
| Rotation relative to parent coordinate origin, in DEGREES. More... | |
| double | getPoseYawRad () const |
| Rotation relative to parent coordinate origin, in radians. More... | |
| double | getPosePitchRad () const |
| Rotation relative to parent coordinate origin, in radians. More... | |
| double | getPoseRollRad () const |
| Rotation relative to parent coordinate origin, in radians. More... | |
| double | getColorR () const |
| Color components in the range [0,1]. More... | |
| double | getColorG () const |
| Color components in the range [0,1]. More... | |
| double | getColorB () const |
| Color components in the range [0,1]. More... | |
| double | getColorA () const |
| Color components in the range [0,1]. More... | |
| uint8_t | getColorR_u8 () const |
| Color components in the range [0,255]. More... | |
| uint8_t | getColorG_u8 () const |
| Color components in the range [0,255]. More... | |
| uint8_t | getColorB_u8 () const |
| Color components in the range [0,255]. More... | |
| uint8_t | getColorA_u8 () const |
| Color components in the range [0,255]. More... | |
| CRenderizable & | setColorR (const double r) |
| Color components in the range [0,1]. More... | |
| CRenderizable & | setColorG (const double g) |
| Color components in the range [0,1]. More... | |
| CRenderizable & | setColorB (const double b) |
| Color components in the range [0,1]. More... | |
| CRenderizable & | setColorA (const double a) |
| Color components in the range [0,1]. More... | |
| CRenderizable & | setScale (float s) |
| Scale to apply to the object, in all three axes (default=1) More... | |
| CRenderizable & | setScale (float sx, float sy, float sz) |
| Scale to apply to the object in each axis (default=1) More... | |
| float | getScaleX () const |
| Get the current scaling factor in one axis. More... | |
| float | getScaleY () const |
| Get the current scaling factor in one axis. More... | |
| float | getScaleZ () const |
| Get the current scaling factor in one axis. More... | |
| mrpt::img::TColorf | getColor () const |
| Returns the object color property as a TColorf. More... | |
| CRenderizable & | setColor (const mrpt::img::TColorf &c) |
| Changes the default object color. More... | |
| CRenderizable & | setColor (double R, double G, double B, double A=1) |
| Set the color components of this object (R,G,B,Alpha, in the range 0-1) More... | |
| const mrpt::img::TColor & | getColor_u8 () const |
| Returns the object color property as a TColor. More... | |
RTTI classes and functions for polymorphic hierarchies | |
| mrpt::rtti::CObject::Ptr | duplicateGetSmartPtr () const |
| Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer). More... | |
Static Public Member Functions | |
| static void * | operator new (size_t size, void *ptr) |
| 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 | |
| EIGEN_STRONG_INLINE 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) |
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::TPoint3D > | mVertices |
| List of vertices presents in the polyhedron. More... | |
| std::vector< TPolyhedronEdge > | mEdges |
| List of polyhedron's edges. More... | |
| std::vector< TPolyhedronFace > | mFaces |
| List of polyhedron's faces. More... | |
| bool | mWireframe |
| This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges. More... | |
| double | mLineWidth |
| When displaying as wireframe object, this variable stores the width of the edges. More... | |
| std::vector< mrpt::math::TPolygonWithPlane > | tempPolygons |
| Mutable list of actual polygons, maintained for speed. More... | |
| bool | polygonsUpToDate |
| Whether the set of actual polygons is up to date or not. More... | |
| std::string | m_name |
| bool | m_show_name |
| 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 |
| Scale components to apply to the object (default=1) More... | |
| float | m_scale_y |
| float | m_scale_z |
| bool | m_visible |
| Is the object visible? (default=true) More... | |
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::TPoint2D > | generateBase (uint32_t numBaseEdges, double baseRadius) |
| Generates a list of 2D vertices constituting a regular polygon. More... | |
| static std::vector< mrpt::math::TPoint2D > | generateShiftedBase (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< CPolyhedron > |
| using | ConstPtr = std::shared_ptr< const CPolyhedron > |
| using | UniquePtr = std::unique_ptr< CPolyhedron > |
| using | ConstUniquePtr = std::unique_ptr< const CPolyhedron > |
| static mrpt::rtti::CLASSINIT | _init_CPolyhedron |
| static const mrpt::rtti::TRuntimeClassId | runtimeClassId |
| static constexpr const char * | className = "CPolyhedron" |
| static const mrpt::rtti::TRuntimeClassId * | _GetBaseClass () |
| static constexpr auto | getClassName () |
| static const mrpt::rtti::TRuntimeClassId & | GetRuntimeClassIdStatic () |
| static mrpt::rtti::CObject * | CreateObject () |
| template<typename... Args> | |
| static Ptr | Create (Args &&... args) |
| template<typename... Args> | |
| static UniquePtr | CreateUnique (Args &&... args) |
| virtual const mrpt::rtti::TRuntimeClassId * | GetRuntimeClass () const override |
| Returns information about the class of an object in runtime. More... | |
| virtual mrpt::rtti::CObject * | clone () const override |
| Returns a deep copy (clone) of the object, indepently of its class. More... | |
Member Typedef Documentation
◆ ConstPtr
| using mrpt::opengl::CPolyhedron::ConstPtr = std::shared_ptr<const CPolyhedron > |
Definition at line 46 of file CPolyhedron.h.
◆ ConstUniquePtr
| using mrpt::opengl::CPolyhedron::ConstUniquePtr = std::unique_ptr<const CPolyhedron > |
Definition at line 46 of file CPolyhedron.h.
◆ Ptr
A type for the associated smart pointer
Definition at line 46 of file CPolyhedron.h.
◆ UniquePtr
| using mrpt::opengl::CPolyhedron::UniquePtr = std::unique_ptr< CPolyhedron > |
Definition at line 46 of file CPolyhedron.h.
Constructor & Destructor Documentation
◆ CPolyhedron() [1/4]
|
inline |
Basic empty constructor.
Definition at line 889 of file CPolyhedron.h.
Referenced by CreateEmpty(), and CreateNoCheck().
◆ CPolyhedron() [2/4]
|
inline |
Basic constructor with a list of vertices and another of faces, checking for correctness.
Definition at line 902 of file CPolyhedron.h.
◆ CPolyhedron() [3/4]
| CPolyhedron::CPolyhedron | ( | const std::vector< math::TPolygon3D > & | polys | ) |
Definition at line 519 of file CPolyhedron.cpp.
References getVerticesAndFaces(), InitFromVertAndFaces(), mFaces, and mVertices.
◆ CPolyhedron() [4/4]
| CPolyhedron::CPolyhedron | ( | const std::vector< mrpt::math::TPoint3D > & | vertices, |
| const std::vector< std::vector< uint32_t >> & | faces | ||
| ) |
Definition at line 532 of file CPolyhedron.cpp.
References InitFromVertAndFaces(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ ~CPolyhedron()
|
inlinevirtual |
Destructor.
Definition at line 942 of file CPolyhedron.h.
Member Function Documentation
◆ _GetBaseClass()
|
staticprotected |
◆ addEdges()
|
private |
Adds, to the existing list of edges, each edge in a given face.
Definition at line 1939 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().
◆ 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 1615 of file CPolyhedron.cpp.
References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), getCenter(), mrpt::math::TPolygon3D::getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ 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 1662 of file CPolyhedron.cpp.
References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), getCenter(), mrpt::math::TPolygon3D::getCenter(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ 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_error a non-regular face has been found.
- See also
- augment(double) const
Definition at line 1724 of file CPolyhedron.cpp.
References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), getCenter(), mrpt::math::TPolygon3D::getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ 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_error a non-regular face has been found.
- See also
- augment(double) const
Definition at line 1772 of file CPolyhedron.cpp.
References mrpt::math::TPlane::coefs, CreateNoCheck(), mrpt::math::TPlane::evaluatePoint(), mrpt::math::TPolygon3D::getBestFittingPlane(), getCenter(), mrpt::math::TPolygon3D::getCenter(), getHeight(), mFaces, mVertices, mrpt::math::TPlane::unitarize(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ cantellate()
| CPolyhedron::Ptr CPolyhedron::cantellate | ( | double | factor | ) | const |
Cantellates a polyhedron to a given factor.
Definition at line 1526 of file CPolyhedron.cpp.
References begin(), CreateEmpty(), CreateNoCheck(), getCenter(), getSetOfPolygons(), mEdges, mFaces, mVertices, and searchForEdge().
◆ checkConsistence()
|
staticprivate |
Checks whether a set of faces is suitable for a set of vertices.
Definition at line 1958 of file CPolyhedron.cpp.
Referenced by serializeFrom().
◆ checkOpenGLError()
|
staticprotectedinherited |
Checks glGetError and throws an exception if an error situation is found.
Definition at line 301 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::checkOpenGLError().
Referenced by mrpt::opengl::COpenGLViewport::render(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CGridPlaneXY::render_dl(), mrpt::opengl::CGridPlaneXZ::render_dl(), mrpt::opengl::CPlanarLaserScan::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), render_dl(), and mrpt::opengl::CTexturedPlane::render_texturedobj().
◆ clone()
|
overridevirtual |
Returns a deep copy (clone) of the object, indepently of its class.
Implements mrpt::rtti::CObject.
◆ Create()
|
inlinestatic |
Definition at line 46 of file CPolyhedron.h.
◆ CreateArchimedeanRegularAntiprism()
|
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.
Definition at line 2274 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
Referenced by CreateCatalanTrapezohedron(), and CreateRandomPolyhedron().
◆ CreateArchimedeanRegularPrism()
|
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 2269 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
Referenced by CreateCatalanDoublePyramid(), and CreateRandomPolyhedron().
◆ CreateBifrustum()
|
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 732 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by CreateRegularBifrustum().
◆ CreateCatalanDoublePyramid()
|
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.
Definition at line 2310 of file CPolyhedron.cpp.
References CreateArchimedeanRegularPrism().
Referenced by CreateRandomPolyhedron().
◆ CreateCatalanTrapezohedron()
|
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.
Definition at line 2305 of file CPolyhedron.cpp.
References CreateArchimedeanRegularAntiprism().
Referenced by CreateRandomPolyhedron().
◆ CreateCubicPrism() [1/2]
|
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 546 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by mrpt::opengl::stock_objects::BumblebeeCamera(), CreateCubicPrism(), and CreateHexahedron().
◆ CreateCubicPrism() [2/2]
|
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 2231 of file CPolyhedron.cpp.
References CreateCubicPrism(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
◆ CreateCuboctahedron()
|
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 2146 of file CPolyhedron.cpp.
References CreateHexahedron().
Referenced by CreateRandomPolyhedron(), and CreateRhombicDodecahedron().
◆ CreateCupola()
|
static |
Creates a cupola.
- Exceptions
-
std::logic_error if the number of edges is odd or less than four.
Definition at line 2299 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase(), and M_PI.
◆ CreateCustomAntiprism()
|
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.
Definition at line 657 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by CreateRegularAntiprism().
◆ CreateCustomPrism()
|
static |
Creates a custom prism with vertical edges, given any base which will lie on the XY plane.
Definition at line 2241 of file CPolyhedron.cpp.
References CreateTruncatedPyramid().
Referenced by CreateRegularPrism(), mrpt::opengl::stock_objects::RobotGiraff(), and mrpt::opengl::stock_objects::RobotRhodon().
◆ CreateDeltoidalHexecontahedron()
|
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 2226 of file CPolyhedron.cpp.
References CreateRhombicosidodecahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateDeltoidalIcositetrahedron()
|
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 2206 of file CPolyhedron.cpp.
References CreateRhombicuboctahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateDodecahedron()
|
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 2131 of file CPolyhedron.cpp.
References CreateIcosahedron().
Referenced by CreateRandomPolyhedron(), and CreateTruncatedDodecahedron().
◆ CreateDoublePyramid()
|
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.
Definition at line 595 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by CreateRegularDoublePyramid().
◆ CreateEmpty()
|
static |
Creates an empty Polyhedron.
Definition at line 2321 of file CPolyhedron.cpp.
References CPolyhedron().
Referenced by cantellate(), CreateHexahedron(), CreateJohnsonSolidWithConstantBase(), CreateRandomPolyhedron(), CreateTrapezohedron(), and truncate().
◆ CreateFrustum()
|
static |
This is a synonym for CreateTruncatedPyramid.
- See also
- CreateTruncatedPyramid
Definition at line 2236 of file CPolyhedron.cpp.
References CreateTruncatedPyramid().
◆ CreateHexahedron()
|
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 2121 of file CPolyhedron.cpp.
References CreateCubicPrism(), and CreateEmpty().
Referenced by CreateCuboctahedron(), CreateRandomPolyhedron(), and CreateTruncatedHexahedron().
◆ CreateIcosahedron()
|
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 2135 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().
Referenced by CreateDodecahedron(), CreateRandomPolyhedron(), CreateRhombicosidodecahedron(), and CreateTruncatedIcosahedron().
◆ CreateIcosidodecahedron()
|
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 2166 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
Referenced by CreateRandomPolyhedron(), and CreateRhombicTriacontahedron().
◆ CreateJohnsonSolidWithConstantBase()
|
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:
| String | Body | Restrictions |
| P+ | Upward pointing pyramid | Must be the last object, vertex number cannot surpass 5 |
| P- | Downward pointing pyramid | Must be the first object, vertex number cannot surpass 5 |
| C+ | Upward pointing cupola | Must be the last object, vertex number must be an even number in the range 4-10. |
| C- | Downward pointing cupola | Must be the first object, vertex number must be an even number in the range 4-10. |
| GC+ | Upward pointing cupola, rotated | Must be the last object, vertex number must be an even number in the range 4-10. |
| GC- | Downward pointing cupola, rotated | Must be the first object, vertex number must be an even number in the range 4-10. |
| PR | Archimedean prism | Cannot abut other prism |
| A | Archimedean antiprism | None |
| R+ | Upward pointing rotunda | Must be the last object, vertex number must be exactly 10 |
| R- | Downward pointing rotunda | Must be the first object, vertex number must be exactly 10 |
| GR+ | Upward pointing rotunda, rotated | Must be the last object, vertex number must be exactly 10 |
| GR- | Downward pointing rotunda | Must be the first object, vertex number must be exactly 10 |
Some examples of bodies are:
| String | Vertices | Resulting body |
| P+ | 3 | Tetrahedron |
| PR | 4 | Hexahedron |
| P-P+ | 4 | Octahedron |
| A | 3 | Octahedron |
| C+PRC- | 8 | Rhombicuboctahedron |
| P-AP+ | 5 | Icosahedron |
| R-R+ | 10 | Icosidodecahedron |
Definition at line 834 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().
◆ CreateNoCheck()
|
static |
Creates a polyhedron without checking its correctness.
Definition at line 2316 of file CPolyhedron.cpp.
References CPolyhedron().
Referenced by augment(), cantellate(), CreateBifrustum(), CreateCubicPrism(), CreateCustomAntiprism(), CreateDoublePyramid(), CreateJohnsonSolidWithConstantBase(), CreateParallelepiped(), CreatePyramid(), CreateTrapezohedron(), CreateTruncatedPyramid(), rotate(), scale(), and truncate().
◆ CreateObject()
|
static |
◆ CreateOctahedron()
|
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 2127 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
Referenced by CreateRandomPolyhedron(), and CreateTruncatedOctahedron().
◆ CreateParallelepiped()
|
static |
Creates a parallelepiped, given a base point and three vectors represented as points.
- See also
- CreateCubicPrism
Definition at line 692 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ CreatePentagonalRotunda()
|
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).
Definition at line 2186 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
◆ CreatePentakisDodecahedron()
|
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 2221 of file CPolyhedron.cpp.
References CreateTruncatedIcosahedron().
Referenced by CreateRandomPolyhedron().
◆ CreatePyramid()
|
static |
Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane.
Definition at line 567 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by CreateRegularPyramid().
◆ CreateRandomPolyhedron()
|
static |
Creates a random polyhedron from the static methods.
Definition at line 1213 of file CPolyhedron.cpp.
References CreateArchimedeanRegularAntiprism(), CreateArchimedeanRegularPrism(), CreateCatalanDoublePyramid(), CreateCatalanTrapezohedron(), CreateCuboctahedron(), CreateDeltoidalHexecontahedron(), CreateDeltoidalIcositetrahedron(), CreateDodecahedron(), CreateEmpty(), CreateHexahedron(), CreateIcosahedron(), CreateIcosidodecahedron(), CreateJohnsonSolidWithConstantBase(), CreateOctahedron(), CreatePentakisDodecahedron(), CreateRhombicDodecahedron(), CreateRhombicosidodecahedron(), CreateRhombicTriacontahedron(), CreateRhombicuboctahedron(), CreateTetrahedron(), CreateTetrakisHexahedron(), CreateTriakisIcosahedron(), CreateTriakisOctahedron(), CreateTriakisTetrahedron(), CreateTruncatedDodecahedron(), CreateTruncatedHexahedron(), CreateTruncatedIcosahedron(), CreateTruncatedOctahedron(), CreateTruncatedTetrahedron(), and mrpt::random::getRandomGenerator().
◆ CreateRegularAntiprism()
|
static |
Creates an antiprism whose base is a regular polygon.
The upper base is rotated 
with respect to the lower one, where N is the number of vertices in the base, and thus the lateral triangles are isosceles.
Definition at line 2246 of file CPolyhedron.cpp.
References CreateCustomAntiprism(), generateBase(), and generateShiftedBase().
◆ CreateRegularBifrustum()
|
static |
Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane.
- See also
- CreateBifrustum
Definition at line 2291 of file CPolyhedron.cpp.
References CreateBifrustum(), and generateBase().
◆ CreateRegularDoublePyramid()
|
static |
Creates a regular double pyramid whose base is a regular polygon.
- See also
- CreateDoublePyramid
Definition at line 2263 of file CPolyhedron.cpp.
References CreateDoublePyramid(), and generateBase().
◆ CreateRegularFrustum()
|
static |
This is a synonym for CreateRegularTruncatedPyramid.
- See also
- CreateRegularTruncatedPyramid
Definition at line 2285 of file CPolyhedron.cpp.
References CreateRegularTruncatedPyramid().
◆ CreateRegularPrism()
|
static |
Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane.
Definition at line 2253 of file CPolyhedron.cpp.
References CreateCustomPrism(), and generateBase().
◆ CreateRegularPyramid()
|
static |
Creates a regular pyramid whose base is a regular polygon.
- See also
- CreatePyramid
Definition at line 2258 of file CPolyhedron.cpp.
References CreatePyramid(), and generateBase().
◆ CreateRegularTruncatedPyramid()
|
static |
Creates a regular truncated pyramid whose base is a regular polygon.
- See also
- CreateTruncatedPyramid
Definition at line 2279 of file CPolyhedron.cpp.
References CreateTruncatedPyramid(), and generateBase().
Referenced by CreateRegularFrustum().
◆ CreateRhombicDodecahedron()
|
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 2194 of file CPolyhedron.cpp.
References CreateCuboctahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateRhombicosidodecahedron()
|
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.
Definition at line 2181 of file CPolyhedron.cpp.
References CreateIcosahedron().
Referenced by CreateDeltoidalHexecontahedron(), and CreateRandomPolyhedron().
◆ CreateRhombicTriacontahedron()
|
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 2211 of file CPolyhedron.cpp.
References CreateIcosidodecahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateRhombicuboctahedron()
|
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 2159 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase(), M_PI, and mrpt::square().
Referenced by CreateDeltoidalIcositetrahedron(), and CreateRandomPolyhedron().
◆ CreateTetrahedron()
|
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.
Definition at line 2112 of file CPolyhedron.cpp.
References CreateJohnsonSolidWithConstantBase().
Referenced by CreateRandomPolyhedron(), and CreateTruncatedTetrahedron().
◆ CreateTetrakisHexahedron()
|
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 2202 of file CPolyhedron.cpp.
References CreateTruncatedOctahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateTrapezohedron()
|
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 780 of file CPolyhedron.cpp.
References CreateEmpty(), CreateNoCheck(), M_PI, and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
◆ CreateTriakisIcosahedron()
|
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 2216 of file CPolyhedron.cpp.
References CreateTruncatedDodecahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateTriakisOctahedron()
|
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 2198 of file CPolyhedron.cpp.
References CreateTruncatedHexahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateTriakisTetrahedron()
|
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 2190 of file CPolyhedron.cpp.
References CreateTruncatedTetrahedron().
Referenced by CreateRandomPolyhedron().
◆ CreateTruncatedDodecahedron()
|
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.
Definition at line 2171 of file CPolyhedron.cpp.
References CreateDodecahedron().
Referenced by CreateRandomPolyhedron(), and CreateTriakisIcosahedron().
◆ CreateTruncatedHexahedron()
|
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.
Definition at line 2150 of file CPolyhedron.cpp.
References CreateHexahedron().
Referenced by CreateRandomPolyhedron(), and CreateTriakisOctahedron().
◆ CreateTruncatedIcosahedron()
|
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.
Definition at line 2176 of file CPolyhedron.cpp.
References CreateIcosahedron().
Referenced by CreatePentakisDodecahedron(), and CreateRandomPolyhedron().
◆ CreateTruncatedOctahedron()
|
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.
Definition at line 2155 of file CPolyhedron.cpp.
References CreateOctahedron().
Referenced by CreateRandomPolyhedron(), and CreateTetrakisHexahedron().
◆ CreateTruncatedPyramid()
|
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 627 of file CPolyhedron.cpp.
References CreateNoCheck(), and mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.
Referenced by CreateCustomPrism(), CreateFrustum(), and CreateRegularTruncatedPyramid().
◆ CreateTruncatedTetrahedron()
|
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.
Definition at line 2142 of file CPolyhedron.cpp.
References CreateTetrahedron().
Referenced by CreateRandomPolyhedron(), and CreateTriakisTetrahedron().
◆ CreateUnique()
|
inlinestatic |
Definition at line 46 of file CPolyhedron.h.
◆ duplicateGetSmartPtr()
|
inlineinherited |
Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Definition at line 168 of file CObject.h.
References mrpt::rtti::CObject::clone().
Referenced by mrpt::obs::CRawlog::addActions(), and mrpt::obs::CRawlog::addObservations().
◆ edgesInVertex()
|
private |
Returns how many edges converge in a given vertex.
Definition at line 1979 of file CPolyhedron.cpp.
References mEdges.
◆ enableShowName()
|
inlineinherited |
Enables or disables showing the name of the object as a label when rendering.
Definition at line 83 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
◆ facesInVertex()
|
private |
Returns how many faces converge in a given vertex.
Definition at line 1988 of file CPolyhedron.cpp.
References mrpt::containers::find(), and mFaces.
◆ generateBase() [1/2]
|
staticprivate |
Generates a list of 2D vertices constituting a regular polygon.
Definition at line 1864 of file CPolyhedron.cpp.
References M_PI.
Referenced by CreateRegularAntiprism(), CreateRegularBifrustum(), CreateRegularDoublePyramid(), CreateRegularPrism(), CreateRegularPyramid(), and CreateRegularTruncatedPyramid().
◆ generateBase() [2/2]
|
staticprivate |
Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector.
Definition at line 1891 of file CPolyhedron.cpp.
References M_PI.
◆ generateShiftedBase() [1/2]
|
staticprivate |
Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms.
Definition at line 1877 of file CPolyhedron.cpp.
References M_PI.
Referenced by CreateJohnsonSolidWithConstantBase(), and CreateRegularAntiprism().
◆ generateShiftedBase() [2/2]
|
staticprivate |
Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector.
Definition at line 1903 of file CPolyhedron.cpp.
References M_PI.
◆ getBoundingBox()
|
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 2059 of file CPolyhedron.cpp.
References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
◆ getCenter()
| void CPolyhedron::getCenter | ( | mrpt::math::TPoint3D & | center | ) | const |
Gets the center of the polyhedron.
Definition at line 1196 of file CPolyhedron.cpp.
References mVertices, mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
Referenced by augment(), cantellate(), getVolume(), and setNormal().
◆ getClassName()
|
inlinestatic |
Definition at line 46 of file CPolyhedron.h.
◆ getColor()
|
inlineinherited |
Returns the object color property as a TColorf.
Definition at line 232 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::maps::COctoMap::getAsOctoMapVoxels(), and mrpt::maps::CColouredOctoMap::getAsOctoMapVoxels().
◆ getColor_u8()
|
inlineinherited |
Returns the object color property as a TColor.
Definition at line 252 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color.
◆ getColorA()
|
inlineinherited |
Color components in the range [0,1].
Definition at line 155 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getColorA_u8()
|
inlineinherited |
Color components in the range [0,255].
Definition at line 163 of file CRenderizable.h.
References mrpt::img::TColor::A, and mrpt::opengl::CRenderizable::m_color.
◆ getColorB()
|
inlineinherited |
Color components in the range [0,1].
Definition at line 153 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getColorB_u8()
|
inlineinherited |
Color components in the range [0,255].
Definition at line 161 of file CRenderizable.h.
References mrpt::img::TColor::B, and mrpt::opengl::CRenderizable::m_color.
◆ getColorG()
|
inlineinherited |
Color components in the range [0,1].
Definition at line 151 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getColorG_u8()
|
inlineinherited |
Color components in the range [0,255].
Definition at line 159 of file CRenderizable.h.
References mrpt::img::TColor::G, and mrpt::opengl::CRenderizable::m_color.
◆ getColorR()
|
inlineinherited |
Color components in the range [0,1].
Definition at line 149 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_color, and mrpt::img::TColor::R.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getColorR_u8()
|
inlineinherited |
Color components in the range [0,255].
Definition at line 157 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_error Can't get the dual to this polyhedron.
Definition at line 1316 of file CPolyhedron.cpp.
References mrpt::math::TPlane::coefs, faceContainsEdge(), getPlanesIntersection(), mEdges, mFaces, mVertices, mrpt::square(), and val.
◆ getEdges()
|
inline |
Gets a list with the polyhedron's edges.
Definition at line 665 of file CPolyhedron.h.
◆ getEdgesLength()
| void CPolyhedron::getEdgesLength | ( | std::vector< double > & | lengths | ) | const |
Gets a vector with each edge's length.
Definition at line 1111 of file CPolyhedron.cpp.
◆ getFaces()
|
inline |
Gets a list with the polyhedron's faces.
Definition at line 672 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 1120 of file CPolyhedron.cpp.
References mFaces, and mVertices.
Referenced by getVolume().
◆ getIntersection()
|
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 953 of file CPolyhedron.h.
References mrpt::math::intersect().
◆ getLineWidth()
|
inline |
Gets the wireframe lines width.
Definition at line 717 of file CPolyhedron.h.
◆ getName()
|
inlineinherited |
Returns the name of the object.
Definition at line 68 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ 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 71 of file CRenderizable.cpp.
References TOpenGLNameBooker::instance(), MAX_GL_TEXTURE_IDS, MAX_GL_TEXTURE_IDS_MASK, MRPT_END, MRPT_START, and THROW_EXCEPTION_FMT.
◆ getNumberOfEdges()
|
inline |
◆ getNumberOfFaces()
|
inline |
◆ getNumberOfVertices()
|
inline |
Gets the amount of vertices.
Definition at line 679 of file CPolyhedron.h.
◆ getPose()
|
inherited |
Returns the 3D pose of the object as TPose3D.
Definition at line 343 of file CRenderizable.cpp.
References mrpt::poses::CPose3D::asTPose(), and mrpt::opengl::CRenderizable::m_pose.
◆ getPosePitch()
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 139 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::pitch(), and mrpt::RAD2DEG().
◆ getPosePitchRad()
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 145 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::pitch().
◆ getPoseRef()
|
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 109 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getPoseRoll()
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 141 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::roll().
◆ getPoseRollRad()
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 147 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::roll().
◆ getPoseX()
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 131 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x().
◆ getPoseY()
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 133 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ getPoseYaw()
|
inlineinherited |
Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 137 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::RAD2DEG(), and mrpt::poses::CPose3D::yaw().
◆ getPoseYawRad()
|
inlineinherited |
Rotation relative to parent coordinate origin, in radians.
Definition at line 143 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, and mrpt::poses::CPose3D::yaw().
◆ getPoseZ()
|
inlineinherited |
Translation relative to parent coordinate origin.
Definition at line 135 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose.
◆ GetRuntimeClass()
|
overridevirtual |
Returns information about the class of an object in runtime.
Reimplemented from mrpt::opengl::CRenderizableDisplayList.
◆ GetRuntimeClassIdStatic()
|
static |
◆ getScaleX()
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 226 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getScaleY()
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 228 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_y.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ getScaleZ()
|
inlineinherited |
Get the current scaling factor in one axis.
Definition at line 230 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_z.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ 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 1150 of file CPolyhedron.cpp.
References polygonsUpToDate, tempPolygons, and updatePolygons().
Referenced by cantellate(), and makeConvexPolygons().
◆ getSetOfPolygonsAbsolute()
| void CPolyhedron::getSetOfPolygonsAbsolute | ( | std::vector< math::TPolygon3D > & | vec | ) | const |
Gets the polyhedron as a set of polygons, with the pose transformation already applied.
Definition at line 1158 of file CPolyhedron.cpp.
References mrpt::poses::CPose3D::composePoint(), mrpt::opengl::CRenderizable::m_pose, mFaces, and mVertices.
◆ getVertices()
|
inline |
Gets a list with the polyhedron's vertices.
Definition at line 658 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 1129 of file CPolyhedron.cpp.
References getCenter(), getFacesArea(), mFaces, polygonsUpToDate, tempPolygons, and updatePolygons().
◆ InitFromVertAndFaces()
|
inline |
Definition at line 914 of file CPolyhedron.h.
Referenced by CPolyhedron().
◆ isClosed()
|
inline |
Returns true if the polygon is a completely closed object.
Definition at line 748 of file CPolyhedron.h.
◆ isShowNameEnabled()
|
inlineinherited |
- See also
- enableShowName
Definition at line 85 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_show_name.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ isVisible()
|
inlineinherited |
Is the object visible?
- See also
- setVisibility
Definition at line 69 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
Referenced by mrpt::opengl::gl_utils::renderSetOfObjects().
◆ isWireframe()
|
inline |
Returns whether the polyhedron will be rendered as a wireframe object.
Definition at line 705 of file CPolyhedron.h.
◆ makeConvexPolygons()
| void CPolyhedron::makeConvexPolygons | ( | ) |
Recomputes polygons, if necessary, so that each one is convex.
Definition at line 1172 of file CPolyhedron.cpp.
References addEdges(), getSetOfPolygons(), getVerticesAndFaces(), mEdges, mFaces, mVertices, setNormal(), and mrpt::math::splitInConvexComponents().
◆ notifyChange()
|
inlineprotectedinherited |
Must be called to notify that the object has changed (so, the display list must be updated)
Definition at line 55 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::CAxis::serializeFrom(), mrpt::opengl::CArrow::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CCylinder::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::CGridPlaneXZ::setPlaneLimits(), mrpt::opengl::CGridPlaneXY::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::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().
◆ operator delete() [1/3]
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inlinenoexcept |
Definition at line 46 of file CPolyhedron.h.
◆ operator delete() [2/3]
Definition at line 46 of file CPolyhedron.h.
◆ operator delete() [3/3]
Definition at line 46 of file CPolyhedron.h.
◆ operator delete[]()
Definition at line 46 of file CPolyhedron.h.
◆ operator new() [1/3]
Definition at line 46 of file CPolyhedron.h.
◆ operator new() [2/3]
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inline |
Definition at line 46 of file CPolyhedron.h.
◆ operator new() [3/3]
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inlinenoexcept |
Definition at line 46 of file CPolyhedron.h.
◆ operator new[]()
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inline |
Definition at line 46 of file CPolyhedron.h.
◆ readFromStreamRender()
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inlineprotectedinherited |
Definition at line 63 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::readFromStreamRender().
Referenced by mrpt::opengl::CSimpleLine::serializeFrom(), mrpt::opengl::CTexturedPlane::serializeFrom(), mrpt::opengl::CGridPlaneXY::serializeFrom(), mrpt::opengl::CGridPlaneXZ::serializeFrom(), mrpt::opengl::CSetOfLines::serializeFrom(), mrpt::opengl::CVectorField2D::serializeFrom(), mrpt::opengl::CVectorField3D::serializeFrom(), mrpt::opengl::CBox::serializeFrom(), mrpt::opengl::CText3D::serializeFrom(), serializeFrom(), mrpt::opengl::CFrustum::serializeFrom(), and mrpt::opengl::CPlanarLaserScan::serializeFrom().
◆ releaseTextureName()
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staticprotectedinherited |
Definition at line 99 of file CRenderizable.cpp.
References TOpenGLNameBooker::cs, TOpenGLNameBooker::freeTextureNames, TOpenGLNameBooker::instance(), and TOpenGLNameBooker::next_free_texture.
◆ render()
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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().
◆ render_dl()
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overridevirtual |
Render.
- See also
- CRenderizable
Implements mrpt::opengl::CRenderizableDisplayList.
Definition at line 1058 of file CPolyhedron.cpp.
References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::opengl::CRenderizable::checkOpenGLError(), mrpt::img::TColor::G, GL_BLEND, GL_LIGHTING, GL_LINES, GL_ONE_MINUS_SRC_ALPHA, GL_POLYGON, GL_SRC_ALPHA, glBegin(), glBlendFunc(), glColor4ub(), glDisable(), glEnable(), glEnd(), glLineWidth(), glNormal3f(), glVertex3f(), mrpt::opengl::CRenderizable::m_color, mEdges, mFaces, mLineWidth, mVertices, mWireframe, and mrpt::img::TColor::R.
◆ renderTextBitmap() [1/2]
This method is safe for calling from within ::render() methods.
Definition at line 367 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::renderTextBitmap().
◆ renderTextBitmap() [2/2]
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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].
Definition at line 318 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.
◆ 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 1835 of file CPolyhedron.cpp.
References CreateNoCheck(), mFaces, and mVertices.
◆ scale()
| CPolyhedron::Ptr CPolyhedron::scale | ( | double | factor | ) | const |
Scales a polyhedron to a given factor.
- Exceptions
-
std::logic_error factor is not a strictly positive number.
- See also
- rotate
Definition at line 1850 of file CPolyhedron.cpp.
References CreateNoCheck(), mFaces, and mVertices.
◆ serializeFrom()
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overrideprotectedvirtual |
Pure virtual method for reading (deserializing) from an abstract archive.
Users don't call this method directly. Instead, use stream >> object;.
- Parameters
-
in The input binary stream where the object data must read from. version The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.
- Exceptions
-
std::exception On any I/O error
Implements mrpt::serialization::CSerializable.
Definition at line 2035 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().
◆ serializeGetVersion()
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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 2027 of file CPolyhedron.cpp.
◆ serializeTo()
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overrideprotectedvirtual |
Pure virtual method for writing (serializing) to an abstract archive.
Users don't call this method directly. Instead, use stream << object;.
- Exceptions
-
std::exception On any I/O error
Implements mrpt::serialization::CSerializable.
Definition at line 2028 of file CPolyhedron.cpp.
References mFaces, mLineWidth, mVertices, mWireframe, and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ setColor() [1/2]
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inlineinherited |
Changes the default object color.
- Returns
- a ref to this
Definition at line 237 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
◆ setColor() [2/2]
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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 246 of file CRenderizable.h.
References G, R, and mrpt::opengl::CRenderizable::setColor_u8().
◆ setColor_u8() [1/2]
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inlineoverridevirtualinherited |
Changes the default object color.
- Returns
- a ref to this
Reimplemented from mrpt::opengl::CRenderizable.
Reimplemented in mrpt::opengl::CSetOfTriangles.
Definition at line 111 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::opengl::CRenderizable::setColor_u8().
◆ setColor_u8() [2/2]
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inlineinherited |
Color components in the range [0,255].
- Returns
- a ref to this
Definition at line 118 of file CRenderizableDisplayList.h.
References G, mrpt::opengl::CRenderizableDisplayList::notifyChange(), R, and mrpt::opengl::CRenderizable::setColor_u8().
◆ setColorA()
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inlineinherited |
Color components in the range [0,1].
- Returns
- a ref to this
Definition at line 180 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorA_u8().
◆ setColorA_u8()
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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 104 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().
◆ setColorB()
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inlineinherited |
Color components in the range [0,1].
- Returns
- a ref to this
Definition at line 175 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorB_u8().
◆ setColorB_u8()
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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 97 of file CRenderizableDisplayList.h.
References mrpt::img::TColor::B, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
◆ setColorG()
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inlineinherited |
Color components in the range [0,1].
- Returns
- a ref to this
Definition at line 170 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorG_u8().
◆ setColorG_u8()
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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 90 of file CRenderizableDisplayList.h.
References mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, and mrpt::opengl::CRenderizableDisplayList::notifyChange().
◆ setColorR()
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inlineinherited |
Color components in the range [0,1].
- Returns
- a ref to this
Definition at line 165 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColorR_u8().
◆ setColorR_u8()
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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 83 of file CRenderizableDisplayList.h.
References mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizableDisplayList::notifyChange(), and mrpt::img::TColor::R.
◆ setLineWidth()
|
inline |
Sets the width used to render lines, when wireframe rendering is activated.
Definition at line 722 of file CPolyhedron.h.
References mLineWidth.
◆ setLocation() [1/2]
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
- Returns
- a ref to this
Definition at line 112 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ setLocation() [2/2]
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inlineinherited |
Changes the location of the object, keeping untouched the orientation.
- Returns
- a ref to this
Definition at line 122 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ setName()
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inlineinherited |
Changes the name of the object.
Definition at line 66 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_name.
◆ setNormal()
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private |
Calculates the normal vector to a face.
Definition at line 1924 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().
◆ setPose() [1/6]
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 309 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
Referenced by mrpt::hwdrivers::CSkeletonTracker::processPreview().
◆ setPose() [2/6]
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inherited |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
Definition at line 314 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
◆ setPose() [3/6]
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 319 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
◆ setPose() [4/6]
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inherited |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
Definition at line 324 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose.
◆ setPose() [5/6]
|
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 331 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ setPose() [6/6]
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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 337 of file CRenderizable.cpp.
References mrpt::opengl::CRenderizable::m_pose, mrpt::poses::CPose3D::setFromValues(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().
◆ setScale() [1/2]
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inlineinherited |
Scale to apply to the object, in all three axes (default=1)
- Returns
- a ref to this
Definition at line 211 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, and mrpt::opengl::CRenderizable::m_scale_z.
Referenced by mrpt::opengl::CText3D::CText3D().
◆ setScale() [2/2]
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inlineinherited |
Scale to apply to the object in each axis (default=1)
- Returns
- a ref to this
Definition at line 218 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()
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inlineinherited |
Set object visibility (default=true)
- See also
- isVisible
Definition at line 74 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::m_visible.
◆ setWireframe()
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inline |
Sets whether the polyhedron will be rendered as a wireframe object.
Definition at line 709 of file CPolyhedron.h.
References mWireframe.
◆ should_skip_display_list_cache()
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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 62 of file CRenderizableDisplayList.h.
Referenced by mrpt::opengl::CRenderizableDisplayList::render().
◆ textBitmapWidth()
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staticinherited |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Definition at line 376 of file CRenderizable.cpp.
References mrpt::opengl::gl_utils::textBitmapWidth().
◆ traceRay()
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overridevirtual |
Ray trace.
- See also
- CRenderizable
Reimplemented from mrpt::opengl::CRenderizable.
Definition at line 1105 of file CPolyhedron.cpp.
References mrpt::opengl::CRenderizable::m_pose, polygonsUpToDate, tempPolygons, mrpt::math::traceRay(), and updatePolygons().
◆ truncate()
| CPolyhedron::Ptr CPolyhedron::truncate | ( | double | factor | ) | const |
Truncates a polyhedron to a given factor.
- See also
- getDual,cantellate,augment
- Exceptions
-
std::logic_error Polyhedron truncation results in skew polygons and thus it's impossible to perform.
Definition at line 1393 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.
◆ updatePolygons()
| void CPolyhedron::updatePolygons | ( | ) | const |
Updates the mutable list of polygons used in rendering and ray tracing.
Definition at line 1915 of file CPolyhedron.cpp.
References mFaces, mVertices, polygonsUpToDate, and tempPolygons.
Referenced by getSetOfPolygons(), getVolume(), and traceRay().
◆ writeToMatlab()
|
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 68 of file CSerializable.h.
◆ writeToStreamRender()
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protectedinherited |
Definition at line 110 of file CRenderizable.cpp.
References mrpt::img::TColor::A, mrpt::img::TColor::B, mrpt::img::TColor::G, mrpt::opengl::CRenderizable::m_color, mrpt::opengl::CRenderizable::m_name, mrpt::opengl::CRenderizable::m_pose, mrpt::opengl::CRenderizable::m_scale_x, mrpt::opengl::CRenderizable::m_scale_y, mrpt::opengl::CRenderizable::m_scale_z, mrpt::opengl::CRenderizable::m_show_name, mrpt::opengl::CRenderizable::m_visible, mrpt::poses::CPose3D::pitch(), mrpt::img::TColor::R, mrpt::poses::CPose3D::roll(), mrpt::serialization::CArchive::WriteBuffer(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y(), and mrpt::poses::CPose3D::yaw().
Referenced by mrpt::opengl::CSimpleLine::serializeTo(), mrpt::opengl::CTexturedPlane::serializeTo(), mrpt::opengl::CGridPlaneXZ::serializeTo(), mrpt::opengl::CGridPlaneXY::serializeTo(), mrpt::opengl::CSetOfLines::serializeTo(), mrpt::opengl::CVectorField2D::serializeTo(), mrpt::opengl::CVectorField3D::serializeTo(), mrpt::opengl::CBox::serializeTo(), mrpt::opengl::CText3D::serializeTo(), serializeTo(), mrpt::opengl::CFrustum::serializeTo(), and mrpt::opengl::CPlanarLaserScan::serializeTo().
Member Data Documentation
◆ _init_CPolyhedron
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staticprotected |
Definition at line 46 of file CPolyhedron.h.
◆ className
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static |
Definition at line 46 of file CPolyhedron.h.
◆ m_color
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protectedinherited |
Color components in the range [0,255].
Definition at line 52 of file CRenderizable.h.
Referenced by mrpt::opengl::CMeshFast::CMeshFast(), mrpt::opengl::CVectorField2D::CVectorField2D(), mrpt::opengl::CVectorField3D::CVectorField3D(), mrpt::opengl::CRenderizable::getColor(), mrpt::opengl::CRenderizable::getColor_u8(), mrpt::opengl::CRenderizable::getColorA(), mrpt::opengl::CRenderizable::getColorA_u8(), mrpt::opengl::CRenderizable::getColorB(), mrpt::opengl::CRenderizable::getColorB_u8(), mrpt::opengl::CRenderizable::getColorG(), mrpt::opengl::CRenderizable::getColorG_u8(), mrpt::opengl::CRenderizable::getColorR(), mrpt::opengl::CRenderizable::getColorR_u8(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CBox::render_dl(), mrpt::opengl::CSimpleLine::render_dl(), mrpt::opengl::CText3D::render_dl(), mrpt::opengl::CSetOfLines::render_dl(), mrpt::opengl::CVectorField2D::render_dl(), mrpt::opengl::CVectorField3D::render_dl(), render_dl(), mrpt::opengl::CRenderizable::setColor_u8(), mrpt::opengl::CRenderizableDisplayList::setColorA_u8(), mrpt::opengl::CRenderizable::setColorA_u8(), mrpt::opengl::CRenderizableDisplayList::setColorB_u8(), mrpt::opengl::CRenderizable::setColorB_u8(), mrpt::opengl::CRenderizableDisplayList::setColorG_u8(), mrpt::opengl::CRenderizable::setColorG_u8(), mrpt::opengl::CRenderizableDisplayList::setColorR_u8(), mrpt::opengl::CRenderizable::setColorR_u8(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_name
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protectedinherited |
Definition at line 49 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getName(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setName(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_pose
|
protectedinherited |
6D pose wrt the parent coordinate reference.
This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
Definition at line 55 of file CRenderizable.h.
Referenced by mrpt::opengl::CAssimpModel::getBoundingBox(), mrpt::opengl::CBox::getBoundingBox(), mrpt::opengl::CSimpleLine::getBoundingBox(), mrpt::opengl::CTexturedPlane::getBoundingBox(), mrpt::opengl::CGridPlaneXY::getBoundingBox(), mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CGridPlaneXZ::getBoundingBox(), mrpt::opengl::CFrustum::getBoundingBox(), mrpt::opengl::CPlanarLaserScan::getBoundingBox(), getBoundingBox(), mrpt::opengl::CSetOfLines::getBoundingBox(), mrpt::opengl::CVectorField2D::getBoundingBox(), mrpt::opengl::CVectorField3D::getBoundingBox(), mrpt::opengl::CRenderizable::getPose(), mrpt::opengl::CRenderizable::getPosePitch(), mrpt::opengl::CRenderizable::getPosePitchRad(), mrpt::opengl::CRenderizable::getPoseRef(), mrpt::opengl::CRenderizable::getPoseRoll(), mrpt::opengl::CRenderizable::getPoseRollRad(), mrpt::opengl::CRenderizable::getPoseX(), mrpt::opengl::CRenderizable::getPoseY(), mrpt::opengl::CRenderizable::getPoseYaw(), mrpt::opengl::CRenderizable::getPoseYawRad(), mrpt::opengl::CRenderizable::getPoseZ(), getSetOfPolygonsAbsolute(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >::render_dl(), mrpt::opengl::CRenderizable::setLocation(), mrpt::opengl::CRenderizable::setPose(), mrpt::opengl::CTexturedPlane::traceRay(), traceRay(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_scale_x
|
protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 57 of file CRenderizable.h.
Referenced by mrpt::opengl::CText3D::getBoundingBox(), mrpt::opengl::CRenderizable::getScaleX(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_scale_y
|
protectedinherited |
Definition at line 57 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleY(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_scale_z
|
protectedinherited |
Definition at line 57 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::getScaleZ(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setScale(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_show_name
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protectedinherited |
Definition at line 50 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::enableShowName(), mrpt::opengl::CRenderizable::isShowNameEnabled(), mrpt::opengl::CRenderizable::readFromStreamRender(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ m_visible
|
protectedinherited |
Is the object visible? (default=true)
Definition at line 59 of file CRenderizable.h.
Referenced by mrpt::opengl::CRenderizable::isVisible(), mrpt::opengl::CRenderizable::readFromStreamRender(), mrpt::opengl::CRenderizable::setVisibility(), and mrpt::opengl::CRenderizable::writeToStreamRender().
◆ mEdges
|
protected |
List of polyhedron's edges.
Definition at line 115 of file CPolyhedron.h.
Referenced by addEdges(), cantellate(), edgesInVertex(), getDual(), getEdgesLength(), getNumberOfFaces(), makeConvexPolygons(), render_dl(), and truncate().
◆ mFaces
|
protected |
List of polyhedron's faces.
Definition at line 119 of file CPolyhedron.h.
Referenced by augment(), cantellate(), CPolyhedron(), facesInVertex(), getDual(), getFacesArea(), getSetOfPolygonsAbsolute(), getVolume(), makeConvexPolygons(), render_dl(), rotate(), scale(), serializeFrom(), serializeTo(), truncate(), and updatePolygons().
◆ mLineWidth
|
protected |
When displaying as wireframe object, this variable stores the width of the edges.
Definition at line 129 of file CPolyhedron.h.
Referenced by render_dl(), serializeFrom(), serializeTo(), and setLineWidth().
◆ mVertices
|
protected |
List of vertices presents in the polyhedron.
Definition at line 111 of file CPolyhedron.h.
Referenced by augment(), cantellate(), CPolyhedron(), getCenter(), getDual(), getEdgesLength(), getFacesArea(), getNumberOfEdges(), getSetOfPolygonsAbsolute(), makeConvexPolygons(), render_dl(), rotate(), scale(), serializeFrom(), serializeTo(), setNormal(), truncate(), and updatePolygons().
◆ mWireframe
|
protected |
This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges.
Definition at line 124 of file CPolyhedron.h.
Referenced by render_dl(), serializeFrom(), serializeTo(), and setWireframe().
◆ polygonsUpToDate
|
mutableprotected |
Whether the set of actual polygons is up to date or not.
Definition at line 137 of file CPolyhedron.h.
Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().
◆ runtimeClassId
|
staticprotected |
Definition at line 46 of file CPolyhedron.h.
◆ tempPolygons
|
mutableprotected |
Mutable list of actual polygons, maintained for speed.
Definition at line 133 of file CPolyhedron.h.
Referenced by getSetOfPolygons(), getVolume(), traceRay(), and updatePolygons().