class mrpt::viz::VisualObjectParams_TexturedTriangles

Overview

#include <mrpt/viz/CVisualObject.h>

class VisualObjectParams_TexturedTriangles: public mrpt::viz::CVisualObject
{
public:
    // construction

    VisualObjectParams_TexturedTriangles();

    // methods

    const auto& shaderTexturedTrianglesBuffer() const;
    auto& shaderTexturedTrianglesBufferMutex() const;
    void assignImage(const mrpt::img::CImage& img, const mrpt::img::CImage& imgAlpha);
    void assignImage(const mrpt::img::CImage& img);
    void assignImage(mrpt::img::CImage&& img, mrpt::img::CImage&& imgAlpha);
    void assignImage(mrpt::img::CImage&& img);
    bool isLightEnabled() const;
    void enableLight(bool enable = true);
    void cullFaces(const TCullFace& cf);
    TCullFace cullFaces() const;
    const mrpt::img::CImage& getTextureImage() const;
    const mrpt::img::CImage& getTextureAlphaImage() const;
    bool textureImageHasBeenAssigned() const;
    void setAlphaMode(TAlphaMode mode);
    TAlphaMode alphaMode() const;
    void setAlphaCutoff(float cutoff);
    float alphaCutoff() const;
    float effectiveAlphaCutoff() const;
    void assignNormalMap(const mrpt::img::CImage& img);
    void assignNormalMap(mrpt::img::CImage&& img);
    const mrpt::img::CImage& getNormalMapImage() const;
    bool normalMapHasBeenAssigned() const;
    void assignEmissiveMap(const mrpt::img::CImage& img);
    void assignEmissiveMap(mrpt::img::CImage&& img);
    const mrpt::img::CImage& getEmissiveMapImage() const;
    bool emissiveMapHasBeenAssigned() const;
    void enableTextureLinearInterpolation(bool enable);
    bool textureLinearInterpolation() const;
    void enableTextureMipMap(bool enable);
    bool textureMipMap() const;
};

// direct descendants

class CMesh;
class CSetOfTexturedTriangles;
class CTexturedPlane;

Inherited Members

public:
    // typedefs

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

    // structs

    struct BuffersVersion;
    struct ChangeCounter;
    struct PoseAndScale;
    struct State;

    // methods

    mrpt::rtti::CObject::Ptr duplicateGetSmartPtr() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    virtual CObject* clone() const = 0;
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    virtual const mrpt::rtti::TRuntimeClassId* GetRuntimeClass() const;
    static const mrpt::rtti::TRuntimeClassId& GetRuntimeClassIdStatic();
    void setName(const std::string& n);
    std::string getName() const;
    bool isVisible() const;
    void setVisibility(bool visible = true);
    bool castShadows() const;
    void castShadows(bool doCast);
    void enableShowName(bool showName = true);
    bool isShowNameEnabled() const;
    CVisualObject& setPose(const mrpt::poses::CPose3D& o);
    CVisualObject& setPose(const mrpt::poses::CPose2D& o);
    CVisualObject& setPose(const mrpt::math::TPose3D& o);
    CVisualObject& setPose(const mrpt::math::TPose2D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint3D& o);
    CVisualObject& setPose(const mrpt::poses::CPoint2D& o);
    mrpt::math::TPose3D getPose() const;
    PoseAndScale getPoseAndScale() const;
    mrpt::poses::CPose3D getCPose() const;
    CVisualObject& setLocation(double x, double y, double z);
    CVisualObject& setLocation(const mrpt::math::TPoint3D& p);
    mrpt::img::TColorf getColor() const;
    mrpt::img::TColor getColor_u8() const;
    CVisualObject& setColorA(const float a);
    virtual CVisualObject& setColorA_u8(const uint8_t a);
    float materialShininess() const;
    void materialShininess(float shininess);
    float materialSpecularExponent() const;
    void materialSpecularExponent(float exponent);
    mrpt::img::TColorf materialEmissive() const;
    void materialEmissive(const mrpt::img::TColorf& color);
    CVisualObject& setScale(float s);
    CVisualObject& setScale(float sx, float sy, float sz);
    float getScaleX() const;
    float getScaleY() const;
    float getScaleZ() const;
    CVisualObject& setColor(const mrpt::img::TColorf& c);
    CVisualObject& setColor(float R, float G, float B, float A = 1);
    virtual CVisualObject& setColor_u8(const mrpt::img::TColor& c);
    CVisualObject& setColor_u8(uint8_t R, uint8_t G, uint8_t B, uint8_t A = 255);
    virtual bool cullElegible() const;
    virtual void toYAMLMap(mrpt::containers::yaml& propertiesMap) const;
    virtual bool isCompositeObject() const;
    virtual const std::deque<std::shared_ptr<CVisualObject>>& getInternalChildren() const;
    void notifyChange() const;
    void notifyTransformChange() const;
    void clearChangedFlag() const;
    void notifyBBoxChange() const;
    bool hasToUpdateBuffers() const;
    uint64_t dataVersion() const;
    uint64_t transformVersion() const;
    bool hasToUpdateBuffersSince(uint64_t sinceVersion) const;
    void updateBuffersIfNeeded() const;
    virtual void updateBuffers() const;
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    auto getBoundingBox() const;
    auto getBoundingBoxLocal() const;
    auto getBoundingBoxLocalf() const;
    virtual mrpt::math::TPoint3Df getLocalRepresentativePoint() const;
    void setLocalRepresentativePoint(const mrpt::math::TPoint3Df& p);
    mrpt::viz::CText& labelObject() const;
    std::shared_ptr<mrpt::viz::CText> labelObjectPtr() const;

Methods

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

Assigns a texture and a transparency image, and enables transparency (If the images are not 2^N x 2^M, they will be internally filled to its dimensions to be powers of two)

Images are copied, the original ones can be deleted.

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

Assigns a texture image, and disable transparency.

Images are copied, the original ones can be deleted.

void assignImage(mrpt::img::CImage&& img, mrpt::img::CImage&& imgAlpha)

Similar to assignImage, but the passed images are moved in (move semantic).

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

Similar to assignImage, but with move semantics.

void cullFaces(const TCullFace& cf)

Control whether to render the FRONT, BACK, or BOTH (default) set of faces.

Refer to docs for glCullFace(). Example: If set to cullFaces(TCullFace::BACK);, back faces will not be drawn (“culled”)

void setAlphaMode(TAlphaMode mode)

Sets how the texture alpha channel is used (default: Auto).