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 mrpt::viz::TTriangle::Vertex TVertex;
    typedef mrpt::viz::TTriangle TTriangle;

    // construction

    CSetOfTexturedTriangles();

    // methods

    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:
    // structs

    struct OutdatedState;
    struct State;

    // methods

    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;
    bool textureLinearInterpolation() const;
    void enableTextureMipMap(bool enable);
    bool textureMipMap() const;

Methods

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.