class mrpt::viz::CAssimpModel

Overview

This class can load & render 3D models in a number of different formats (requires the library assimp).

All supported formats: http://assimp.sourceforge.net/main_features_formats.html
Most common ones: AutoCAD DXF ( .dxf ), Collada ( .dae ), Blender 3D ( .blend ), 3ds Max 3DS ( .3ds ), 3ds Max ASE ( .ase ), Quake I ( .mdl ), Quake II ( .md2 ), Quake III Mesh ( .md3 ), etc.

Models are loaded via CAssimpModel::loadScene()

See also:

opengl::Scene

#include <mrpt/viz/CAssimpModel.h>

class CAssimpModel: public mrpt::viz::CVisualObject
{
public:
    // typedefs

    typedef std::string filepath_t;

    // structs

    struct LoadFlags;

    // construction

    CAssimpModel();

    // methods

    void loadScene(const std::string& file_name, const int flags = LoadFlags::RealTimeMaxQuality|LoadFlags::FlipUVs|LoadFlags::Verbose);
    void clear();
    virtual bool traceRay(const mrpt::poses::CPose3D& o, double& dist) const;
    virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const;
    void split_triangles_rendering_bbox(const float bbox_size);
    float split_triangles_rendering_bbox() const;
};

Inherited Members

public:
    // structs

    struct OutdatedState;
    struct State;

Methods

void loadScene(const std::string& file_name, const int flags = LoadFlags::RealTimeMaxQuality|LoadFlags::FlipUVs|LoadFlags::Verbose)

Loads a scene from a file in any supported file.

Parameters:

std::runtime_error

On any error during loading or importing the file.

void clear()

Empty the object.

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

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

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates.

This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.