class mrpt::viz::CSetOfTriangles

Overview

A set of colored triangles, able to draw any solid, arbitrarily complex object without textures.

For textures, see CSetOfTexturedTriangles

See also:

opengl::Scene, CSetOfTexturedTriangles

#include <mrpt/viz/CSetOfTriangles.h>

class CSetOfTriangles:
    public mrpt::viz::CVisualObject,
    public mrpt::viz::VisualObjectParams_Triangles
{
public:
    // typedefs

    typedef std::shared_ptr<mrpt::viz ::CSetOfTriangles> Ptr;
    typedef std::shared_ptr<const mrpt::viz ::CSetOfTriangles> ConstPtr;
    typedef std::unique_ptr<mrpt::viz ::CSetOfTriangles> UniquePtr;
    typedef std::unique_ptr<const mrpt::viz ::CSetOfTriangles> ConstUniquePtr;
    typedef std::vector<TTriangle>::const_iterator const_iterator;
    typedef std::vector<TTriangle>::const_reverse_iterator const_reverse_iterator;

    // fields

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

    // construction

    CSetOfTriangles();

    // 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;
    void updatePolygons() const;
    void clearTriangles();
    size_t getTrianglesCount() const;
    void getTriangle(size_t idx, TTriangle& t) const;
    void insertTriangle(const TTriangle& t);

    template <class InputIterator>
    void insertTriangles(
        const InputIterator& begin,
        const InputIterator& end
        );

    void insertTriangles(const CSetOfTriangles::Ptr& p);
    void reserve(size_t t);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    void getPolygons(std::vector<mrpt::math::TPolygon3D>& polys) const;

    template <class CONTAINER>
    void insertTriangles(const CONTAINER& c);

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

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;
    typedef std::shared_ptr<CVisualObject> Ptr;
    typedef std::shared_ptr<const CVisualObject> ConstPtr;
    typedef std::unique_ptr<CObject> UniquePtr;
    typedef std::unique_ptr<const CObject> ConstUniquePtr;

    // 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& shaderTrianglesBuffer() const;
    auto& shaderTrianglesBufferMutex() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    PoseAndScale getPoseAndScale() const;
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    TCullFace cullFaces() const;
    void notifyBBoxChange() const;
    auto getBoundingBoxLocalf() const;

Typedefs

typedef std::shared_ptr<mrpt::viz ::CSetOfTriangles> 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.

void updatePolygons() const

Explicitly updates the internal polygon cache, with all triangles as polygons.

See also:

getPolygons()

void clearTriangles()

Clear this object, removing all triangles.

size_t getTrianglesCount() const

Get triangle count.

void getTriangle(size_t idx, TTriangle& t) const

Gets the i-th triangle.

void insertTriangle(const TTriangle& t)

Inserts a triangle into the set.

template <class InputIterator>
void insertTriangles(
    const InputIterator& begin,
    const InputIterator& end
    )

Inserts a set of triangles, bounded by iterators, into this set.

See also:

insertTriangle

void insertTriangles(const CSetOfTriangles::Ptr& p)

Inserts an existing CSetOfTriangles into this one.

void reserve(size_t t)

Reserves memory for certain number of triangles, avoiding multiple memory allocation calls.

virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c)

Overwrite all triangles colors with the one provided.

virtual CVisualObject& setColorA_u8(const uint8_t a)

Overwrite all triangles colors with the one provided.

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

Gets the polygon cache.

See also:

insertTriangles

template <class CONTAINER>
void insertTriangles(const CONTAINER& c)

Inserts a set of triangles, given in a container of either TTriangle ‘s or TPolygon3D.

See also:

insertTriangle

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

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