class mrpt::opengl::CMeshFast¶

A planar (XY) grid where each cell has an associated height and, optionally, a texture map.

To make it faster to render, instead of drawing lines and triangles it draws a point at each gridcell. A typical usage example would be an elevation map or a 3D model of a terrain.

See also:

opengl::COpenGLScene

#include <mrpt/opengl/CMeshFast.h>

class CMeshFast: public mrpt::opengl::CRenderizableShaderPoints
{
public:
    // construction

    CMeshFast(
        bool enableTransparency = false,
        float xMin_p = -1.0f,
        float xMax_p = 1.0f,
        float yMin_p = -1.0f,
        float yMax_p = 1.0f
        );

    //
methods

    virtual void onUpdateBuffers_Points();

    void setGridLimits(
        float xmin,
        float xmax,
        float ymin,
        float ymax
        );

    void getGridLimits(
        float& xmin,
        float& xmax,
        float& ymin,
        float& ymax
        ) const;

    void enableTransparency(bool v);

    void enableColorFromZ(
        bool v,
        mrpt::img::TColormap colorMap = mrpt::img::cmJET
        );

    void setZ(const mrpt::math::CMatrixDynamic<float>& in_Z);
    void getZ(mrpt::math::CMatrixFloat& out) const;
    float getXMin() const;
    float getXMax() const;
    float getYMin() const;
    float getYMax() const;
    void setXMin(float nxm);
    void setXMax(float nxm);
    void setYMin(float nym);
    void setYMax(float nym);

    void getXBounds(
        float& min,
        float& max
        ) const;

    void getYBounds(
        float& min,
        float& max
        ) const;

    void setXBounds(
        float min,
        float max
        );

    void setYBounds(
        float min,
        float max
        );

    virtual mrpt::math::TBoundingBox getBoundingBox() const;
    void assignImage(const mrpt::img::CImage& img);
    void assignImageAndZ(const mrpt::img::CImage& img, const mrpt::math::CMatrixDynamic<float>& in_Z);
    void adjustGridToImageAR();
    virtual shader_list_t requiredShaders() const;
    virtual void render(const RenderContext& rc) const;
    virtual void renderUpdateBuffers() const;
    virtual void freeOpenGLResources();
};

Inherited Members¶

public:
    // structs

    struct RenderContext;

    //
methods

    virtual void render(const RenderContext& rc) const = 0;
    virtual void renderUpdateBuffers() const = 0;
    virtual shader_list_t requiredShaders() const;
    virtual auto getBoundingBox() const = 0;
    virtual void freeOpenGLResources() = 0;
    virtual void onUpdateBuffers_Points() = 0;

Construction¶

CMeshFast(
    bool enableTransparency = false,
    float xMin_p = -1.0f,
    float xMax_p = 1.0f,
    float yMin_p = -1.0f,
    float yMax_p = 1.0f
    )

Constructor.

Methods¶

virtual void onUpdateBuffers_Points()

Must be implemented in derived classes to update the geometric entities to be drawn in “m_*_buffer” fields.

void setZ(const mrpt::math::CMatrixDynamic<float>& in_Z)

This method sets the matrix of heights for each position (cell) in the mesh grid.

void getZ(mrpt::math::CMatrixFloat& out) const

Returns a reference to the internal Z matrix, allowing changing it efficiently.

virtual mrpt::math::TBoundingBox getBoundingBox() const

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

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

Assigns a texture image, and disable transparency.

void assignImageAndZ(const mrpt::img::CImage& img, const mrpt::math::CMatrixDynamic<float>& in_Z)

Assigns a texture image and Z simultaneously, and disable transparency.

void adjustGridToImageAR()

Adjust grid limits according to the image aspect ratio, maintaining the X limits and resizing in the Y direction.

virtual shader_list_t requiredShaders() const

Returns the ID of the OpenGL shader program required to render this class.