class mrpt::viz::CSetOfTexturedTriangles

Overview

A set of textured triangles.

This class can be used to draw any solid, arbitrarily complex object with textures.

See also:

opengl::Scene

#include <mrpt/viz/CSetOfTexturedTriangles.h>

class CSetOfTexturedTriangles:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_TexturedTriangles
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CSetOfTexturedTriangles> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CSetOfTexturedTriangles> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CSetOfTexturedTriangles> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CSetOfTexturedTriangles> ConstUniquePtr;
    typedef mrpt::viz::TTriangle::Vertex TVertex;
    typedef mrpt::viz::TTriangle TTriangle;

    // fields

    static constexpr const char* className = "mrpt::viz" "::" "CSetOfTexturedTriangles";

    // construction

    CSetOfTexturedTriangles();

    // methods

    static constexpr auto getClassName();
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    static std::shared_ptr<CObject> CreateObject();

    template <typename... Args>
    static Ptr Create(Args&&... args);

    template <typename Alloc, typename... Args>
    static Ptr CreateAlloc(
        const Alloc& alloc,
        Args&&... args
        );

    template <typename... Args>
    static UniquePtr CreateUnique(Args&&... args);

    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual mrpt::rtti::CObject* clone() const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    void clearTriangles();
    size_t getTrianglesCount() const;
    TTriangle getTriangle(size_t idx) const;

    void getTriangle(
        size_t idx,
        TTriangle& t
        ) const;

    void insertTriangle(const TTriangle& t);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    void assignImage(const mrpt::img::CImage& img);
};

Inherited Members

public:
    // typedefs

    typedef std::shared_ptr<CObject> Ptr;
    typedef std::shared_ptr<const CObject> ConstPtr;
    typedef std::shared_ptr<CSerializable> Ptr;
    typedef std::shared_ptr<const CSerializable> ConstPtr;

    // structs

    struct PoseAndScale;
    struct State;

    // methods

    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    const auto& shaderTexturedTrianglesBuffer() const;
    auto& shaderTexturedTrianglesBufferMutex() const;
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    TCullFace cullFaces() const;
    const mrpt::img::CImage& getTextureImage() const;
    const mrpt::img::CImage& getTextureAlphaImage() const;
    bool textureImageHasBeenAssigned() const;
    const mrpt::img::CImage& getNormalMapImage() const;
    bool normalMapHasBeenAssigned() const;
    bool textureLinearInterpolation() const;
    void enableTextureMipMap(bool enable);
    bool textureMipMap() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CSetOfTexturedTriangles> Ptr

A type for the associated smart pointer.

Methods

virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const

Returns information about the class of an object in runtime.

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

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

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const

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

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

Simulation of ray-trace, given a pose.

Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in “dist”), or false in other case. “dist” variable yields undefined behaviour when false is returned

void assignImage(const mrpt::img::CImage& img)

Assigns a texture image, and disable transparency.

Images are copied, the original ones can be deleted.