Detailed Description

This class represents arbitrary polyhedra.

The class includes a set of static methods to create common polyhedrons. The class includes many methods to create standard polyhedra, not intended to be fast but to be simple. For example, the dodecahedron is not created efficiently: first, an icosahedron is created, and a duality operator is applied to it, which yields the dodecahedron. This way, code is much smaller, although much slower. This is not a big problem, since polyhedron creation does not usually take a significant amount of time (they are created once and rendered many times). Polyhedra information and models have been gotten from the Wikipedia, http://wikipedia.org

See also:: opengl::COpenGLScene

mrpt::opengl::CPolyhedron

#include <mrpt/opengl/CPolyhedron.h>

Inheritance diagram for mrpt::opengl::CPolyhedron:

[legend]

List of all members.

Classes
struct	TPolyhedronEdge
	Struct used to store a polyhedron edge. More...
struct	TPolyhedronFace
	Struct used to store a polyhedron face. More...
Public Member Functions
void	render_dl () const
	Render.
virtual bool	traceRay (const mrpt::poses::CPose3D &o, double &dist) const
	Ray trace.
void	getVertices (vector< TPoint3D > &vertices) const
	Gets a list with the polyhedron's vertices.
void	getEdges (vector< TPolyhedronEdge > &edges) const
	Gets a list with the polyhedron's edges.
void	getFaces (vector< TPolyhedronFace > &faces) const
	Gets a list with the polyhedron's faces.
uint32_t	getNumberOfVertices () const
	Gets the amount of vertices.
uint32_t	getNumberOfEdges () const
	Gets the amount of edges.
uint32_t	getNumberOfFaces () const
	Gets the amount of faces.
void	getEdgesLength (vector< double > &lengths) const
	Gets a vector with each edge's length.
void	getFacesArea (vector< double > &areas) const
	Gets a vector with each face's area.
double	getVolume () const
	Gets the polyhedron volume.
bool	isWireframe () const
	Returns whether the polyhedron will be rendered as a wireframe object.
void	setWireframe (bool enabled=true)
	Sets whether the polyhedron will be rendered as a wireframe object.
double	getLineWidth () const
	Gets the wireframe lines width.
void	setLineWidth (double lineWidth)
	Sets the width used to render lines, when wireframe rendering is activated.
void	getSetOfPolygons (std::vector< math::TPolygon3D > &vec) const
	Gets the polyhedron as a set of polygons.
void	getSetOfPolygonsAbsolute (std::vector< math::TPolygon3D > &vec) const
	Gets the polyhedron as a set of polygons, with the pose transformation already applied.
bool	isClosed () const
	Returns true if the polygon is a completely closed object.
void	makeConvexPolygons ()
	Recomputes polygons, if necessary, so that each one is convex.
void	getCenter (TPoint3D &center) const
	Gets the center of the polyhedron.
void	updatePolygons () const
	Updates the mutable list of polygons used in rendering and ray tracing.
CRenderizableDisplayList *	clone () const
	Interface for the stlplus smart pointer class.
virtual void	render () const
	Render the object, regenerating the display list if needed, otherwise just calling it.
mrpt::utils::CObjectPtr	duplicateGetSmartPtr () const
	Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).
Polyhedron special operations.
CPolyhedronPtr	getDual () const
	Given a polyhedron, creates its dual.
CPolyhedronPtr	truncate (double factor) const
	Truncates a polyhedron to a given factor.
CPolyhedronPtr	cantellate (double factor) const
	Cantellates a polyhedron to a given factor.
CPolyhedronPtr	augment (double height) const
	Augments a polyhedron to a given height.
CPolyhedronPtr	augment (double height, size_t numVertices) const
	Augments a polyhedron to a given height.
CPolyhedronPtr	augment (bool direction=false) const
	Augments a polyhedron, so that the resulting triangles are equilateral.
CPolyhedronPtr	augment (size_t numVertices, bool direction=false) const
	Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces.
CPolyhedronPtr	rotate (double angle) const
	Rotates a polyhedron around the Z axis a given amount of radians.
CPolyhedronPtr	scale (double factor) const
	Scales a polyhedron to a given factor.
Changes the appearance of the object to render (methods from CRenderizable that need to be redefined)
virtual CRenderizable &	setColorR_u8 (const uint8_t r)
	Color components in the range [0,255].
virtual CRenderizable &	setColorG_u8 (const uint8_t g)
	Color components in the range [0,255].
virtual CRenderizable &	setColorB_u8 (const uint8_t b)
	Color components in the range [0,255].
virtual CRenderizable &	setColorA_u8 (const uint8_t a)
	Color components in the range [0,255].
virtual CRenderizable &	setColor_u8 (const mrpt::utils::TColor &c)
	Changes the default object color.
Changes the appearance of the object to render
CRenderizable &	setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1)
void	setName (const std::string &n)
	Changes the name of the object.
const std::string &	getName () const
	Returns the name of the object.
bool	isVisible () const
	Is the object visible?
void	setVisibility (bool visible=true)
	Set object visibility (default=true)
void	enableShowName (bool showName=true)
	Enables or disables showing the name of the object as a label when rendering.
bool	isShowNameEnabled () const
CRenderizable &	setPose (const mrpt::poses::CPose3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::math::TPose3D &o)
	Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint3D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
CRenderizable &	setPose (const mrpt::poses::CPoint2D &o)
	Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
mrpt::math::TPose3D	getPose () const
	Returns the 3D pose of the object as TPose3D.
const mrpt::poses::CPose3D &	getPoseRef () const
	Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)
CRenderizable &	setLocation (double x, double y, double z)
	Changes the location of the object, keeping untouched the orientation.
CRenderizable &	setLocation (const mrpt::math::TPoint3D &p)
	Changes the location of the object, keeping untouched the orientation.
double	getPoseX () const
	Translation relative to parent coordinate origin.
double	getPoseY () const
	Translation relative to parent coordinate origin.
double	getPoseZ () const
	Translation relative to parent coordinate origin.
double	getPoseYaw () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPosePitch () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseRoll () const
	Rotation relative to parent coordinate origin, in DEGREES.
double	getPoseYawRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPosePitchRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getPoseRollRad () const
	Rotation relative to parent coordinate origin, in radians.
double	getColorR () const
	Color components in the range [0,1].
double	getColorG () const
	Color components in the range [0,1].
double	getColorB () const
	Color components in the range [0,1].
double	getColorA () const
	Color components in the range [0,1].
uint8_t	getColorR_u8 () const
	Color components in the range [0,255].
uint8_t	getColorG_u8 () const
	Color components in the range [0,255].
uint8_t	getColorB_u8 () const
	Color components in the range [0,255].
uint8_t	getColorA_u8 () const
	Color components in the range [0,255].
CRenderizable &	setColorR (const double r)
	Color components in the range [0,1].
CRenderizable &	setColorG (const double g)
	Color components in the range [0,1].
CRenderizable &	setColorB (const double b)
	Color components in the range [0,1].
CRenderizable &	setColorA (const double a)
	Color components in the range [0,1].
CRenderizable &	setScale (float s)
	Scale to apply to the object, in all three axes (default=1)
CRenderizable &	setScale (float sx, float sy, float sz)
	Scale to apply to the object in each axis (default=1)
float	getScaleX () const
	Get the current scaling factor in one axis.
float	getScaleY () const
	Get the current scaling factor in one axis.
float	getScaleZ () const
	Get the current scaling factor in one axis.
mrpt::utils::TColorf	getColor () const
	Returns the object color property as a TColorf.
CRenderizable &	setColor (const mrpt::utils::TColorf &c)
CRenderizable &	setColor (double R, double G, double B, double A=1)
	Set the color components of this object (R,G,B,Alpha, in the range 0-1)
const mrpt::utils::TColor &	getColor_u8 () const
	Returns the object color property as a TColor.
Static Public Member Functions
static CPolyhedronPtr	Create (const vector< TPoint3D > &vertices, const vector< vector< uint32_t > > &faces)
	Creation of a polyhedron from its vertices and faces.
static CPolyhedronPtr	Create (const vector< TPoint3D > &vertices, const vector< TPolyhedronFace > &faces)
	Creation of a polyhedron from its vertices and faces.
static CPolyhedronPtr	Create (const std::vector< math::TPolygon3D > &polys)
	Creation from a set of polygons.
template<class T >
static size_t	getIntersection (const CPolyhedronPtr &p1, const CPolyhedronPtr &p2, T &container)
	Gets the intersection of two polyhedra, either as a set or as a matrix of intersections.
static CPolyhedronPtr	CreateRandomPolyhedron (double radius)
	Creates a random polyhedron from the static methods.
static void	renderTextBitmap (const char str, void fontStyle)
	This method is safe for calling from within ::render() methods.
static void	renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)
static int	textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24)
	Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
Platonic solids.
static CPolyhedronPtr	CreateTetrahedron (double radius)
	Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron).
static CPolyhedronPtr	CreateHexahedron (double radius)
	Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron).
static CPolyhedronPtr	CreateOctahedron (double radius)
	Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron).
static CPolyhedronPtr	CreateDodecahedron (double radius)
	Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron).
static CPolyhedronPtr	CreateIcosahedron (double radius)
	Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron).
Archimedean solids.
static CPolyhedronPtr	CreateTruncatedTetrahedron (double radius)
	Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron).
static CPolyhedronPtr	CreateCuboctahedron (double radius)
	Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron).
static CPolyhedronPtr	CreateTruncatedHexahedron (double radius)
	Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron).
static CPolyhedronPtr	CreateTruncatedOctahedron (double radius)
	Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron).
static CPolyhedronPtr	CreateRhombicuboctahedron (double radius, bool type=true)
	Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola.
static CPolyhedronPtr	CreateIcosidodecahedron (double radius, bool type=true)
	Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron).
static CPolyhedronPtr	CreateTruncatedDodecahedron (double radius)
	Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron).
static CPolyhedronPtr	CreateTruncatedIcosahedron (double radius)
	Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons.
static CPolyhedronPtr	CreateRhombicosidodecahedron (double radius)
	Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron).
Other Johnson solids.
static CPolyhedronPtr	CreatePentagonalRotunda (double radius)
	Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda).
Catalan solids.
static CPolyhedronPtr	CreateTriakisTetrahedron (double radius)
	Creates a triakis tetrahedron, dual to the truncated tetrahedron.
static CPolyhedronPtr	CreateRhombicDodecahedron (double radius)
	Creates a rhombic dodecahedron, dual to the cuboctahedron.
static CPolyhedronPtr	CreateTriakisOctahedron (double radius)
	Creates a triakis octahedron, dual to the truncated hexahedron.
static CPolyhedronPtr	CreateTetrakisHexahedron (double radius)
	Creates a tetrakis hexahedron, dual to the truncated octahedron.
static CPolyhedronPtr	CreateDeltoidalIcositetrahedron (double radius)
	Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron.
static CPolyhedronPtr	CreateRhombicTriacontahedron (double radius)
	Creates a rhombic triacontahedron, dual to the icosidodecahedron.
static CPolyhedronPtr	CreateTriakisIcosahedron (double radius)
	Creates a triakis icosahedron, dual to the truncated dodecahedron.
static CPolyhedronPtr	CreatePentakisDodecahedron (double radius)
	Creates a pentakis dodecahedron, dual to the truncated icosahedron.
static CPolyhedronPtr	CreateDeltoidalHexecontahedron (double radius)
	Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron.
Customizable polyhedra
static CPolyhedronPtr	CreateCubicPrism (double x1, double x2, double y1, double y2, double z1, double z2)
	Creates a cubic prism, given the coordinates of two opposite vertices.
static CPolyhedronPtr	CreateCubicPrism (const TPoint3D &p1, const TPoint3D &p2)
	Creates a cubic prism, given two opposite vertices.
static CPolyhedronPtr	CreatePyramid (const vector< TPoint2D > &baseVertices, double height)
	Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane.
static CPolyhedronPtr	CreateDoublePyramid (const vector< TPoint2D > &baseVertices, double height1, double height2)
	Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane.
static CPolyhedronPtr	CreateTruncatedPyramid (const vector< TPoint2D > &baseVertices, double height, double ratio)
	Creates a truncated pyramid, using a set of vertices which will lie on the XY plane.
static CPolyhedronPtr	CreateFrustum (const vector< TPoint2D > &baseVertices, double height, double ratio)
	This is a synonym for CreateTruncatedPyramid.
static CPolyhedronPtr	CreateCustomPrism (const vector< TPoint2D > &baseVertices, double height)
	Creates a custom prism with vertical edges, given any base which will lie on the XY plane.
static CPolyhedronPtr	CreateCustomAntiprism (const vector< TPoint2D > &bottomBase, const vector< TPoint2D > &topBase, double height)
	Creates a custom antiprism, using two custom bases.
static CPolyhedronPtr	CreateParallelepiped (const TPoint3D &base, const TPoint3D &v1, const TPoint3D &v2, const TPoint3D &v3)
	Creates a parallelepiped, given a base point and three vectors represented as points.
static CPolyhedronPtr	CreateBifrustum (const vector< TPoint2D > &baseVertices, double height1, double ratio1, double height2, double ratio2)
	Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane.
static CPolyhedronPtr	CreateTrapezohedron (uint32_t numBaseEdges, double baseRadius, double basesDistance)
	Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base.
static CPolyhedronPtr	CreateRegularAntiprism (uint32_t numBaseEdges, double baseRadius, double height)
	Creates an antiprism whose base is a regular polygon.
static CPolyhedronPtr	CreateRegularPrism (uint32_t numBaseEdges, double baseRadius, double height)
	Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane.
static CPolyhedronPtr	CreateRegularPyramid (uint32_t numBaseEdges, double baseRadius, double height)
	Creates a regular pyramid whose base is a regular polygon.
static CPolyhedronPtr	CreateRegularDoublePyramid (uint32_t numBaseEdges, double baseRadius, double height1, double height2)
	Creates a regular double pyramid whose base is a regular polygon.
static CPolyhedronPtr	CreateArchimedeanRegularPrism (uint32_t numBaseEdges, double baseRadius)
	Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon.
static CPolyhedronPtr	CreateArchimedeanRegularAntiprism (uint32_t numBaseEdges, double baseRadius)
	Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon.
static CPolyhedronPtr	CreateRegularTruncatedPyramid (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
	Creates a regular truncated pyramid whose base is a regular polygon.
static CPolyhedronPtr	CreateRegularFrustum (uint32_t numBaseEdges, double baseRadius, double height, double ratio)
	This is a synonym for CreateRegularTruncatedPyramid.
static CPolyhedronPtr	CreateRegularBifrustum (uint32_t numBaseEdges, double baseRadius, double height1, double ratio1, double height2, double ratio2)
	Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane.
static CPolyhedronPtr	CreateCupola (uint32_t numBaseEdges, double edgeLength)
	Creates a cupola.
static CPolyhedronPtr	CreateCatalanTrapezohedron (uint32_t numBaseEdges, double height)
	Creates a trapezohedron whose dual is exactly an archimedean antiprism.
static CPolyhedronPtr	CreateCatalanDoublePyramid (uint32_t numBaseEdges, double height)
	Creates a double pyramid whose dual is exactly an archimedean prism.
static CPolyhedronPtr	CreateJohnsonSolidWithConstantBase (uint32_t numBaseEdges, double baseRadius, const std::string &components, size_t shifts=0)
	Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges.
Static Public Attributes
static const mrpt::utils::TRuntimeClassId	classCObject
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizable
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCSerializable
Protected Member Functions
void	writeToStreamRender (utils::CStream &out) const
virtual void	writeToStream (mrpt::utils::CStream &out, int *getVersion) const =0
	Introduces a pure virtual method responsible for writing to a CStream.
virtual void	readFromStream (mrpt::utils::CStream &in, int version)=0
	Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.
Methods accesible or implemented by derived classes
EIGEN_STRONG_INLINE void	notifyChange () const
	Must be called to notify that the object has changed (so, the display list must be updated)
virtual bool	should_skip_display_list_cache () const
	Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.
void	readFromStreamRender (mrpt::utils::CStream &in)
Static Protected Member Functions
static void	checkOpenGLError ()
	Checks glGetError and throws an exception if an error situation is found.
static unsigned int	getNewTextureNumber ()
	Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
static void	releaseTextureName (unsigned int i)
Protected Attributes
vector< TPoint3D >	mVertices
	List of vertices presents in the polyhedron.
vector< TPolyhedronEdge >	mEdges
	List of polyhedron's edges.
vector< TPolyhedronFace >	mFaces
	List of polyhedron's faces.
bool	mWireframe
	This flag determines whether the polyhedron will be displayed as a solid object or as a set of edges.
double	mLineWidth
	When displaying as wireframe object, this variable stores the width of the edges.
std::vector< TPolygonWithPlane >	tempPolygons
	Mutable list of actual polygons, maintained for speed.
bool	polygonsUpToDate
	Whether the set of actual polygons is up to date or not.
std::string	m_name
bool	m_show_name
mrpt::utils::TColor	m_color
	Color components in the range [0,255].
mrpt::poses::CPose3D	m_pose
	6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
float	m_scale_x
float	m_scale_y
float	m_scale_z
	Scale components to apply to the object (default=1)
bool	m_visible
	Is the object visible? (default=true)
Private Member Functions
bool	setNormal (TPolyhedronFace &f, bool doCheck=true)
	Calculates the normal vector to a face.
void	addEdges (const TPolyhedronFace &e)
	Adds, to the existing list of edges, each edge in a given face.
size_t	edgesInVertex (size_t vertex) const
	Returns how many edges converge in a given vertex.
size_t	facesInVertex (size_t vertex) const
	Returns how many faces converge in a given vertex.
	CPolyhedron ()
	Basic empty constructor.
	CPolyhedron (const vector< TPoint3D > &vertices, const vector< TPolyhedronFace > &faces, bool doCheck=true)
	Basic constructor with a list of vertices and another of faces, checking for correctness.
virtual	~CPolyhedron ()
	Destructor.
Static Private Member Functions
static vector< TPoint2D >	generateBase (uint32_t numBaseEdges, double baseRadius)
	Generates a list of 2D vertices constituting a regular polygon.
static vector< TPoint2D >	generateShiftedBase (uint32_t numBaseEdges, double baseRadius)
	Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms.
static void	generateBase (uint32_t numBaseEdges, double baseRadius, double height, vector< TPoint3D > &vec)
	Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector.
static void	generateShiftedBase (uint32_t numBaseEdges, double baseRadius, double height, double shift, vector< TPoint3D > &vec)
	Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector.
static bool	checkConsistence (const vector< TPoint3D > &vertices, const vector< TPolyhedronFace > &faces)
	Checks whether a set of faces is suitable for a set of vertices.
static CPolyhedronPtr	CreateNoCheck (const vector< TPoint3D > &vertices, const vector< TPolyhedronFace > &faces)
	Creates a polyhedron without checking its correctness.
static CPolyhedronPtr	CreateEmpty ()
	Creates an empty Polyhedron.
Friends
class	mrpt::opengl::COpenGLViewport
class	mrpt::opengl::CSetOfObjects
RTTI stuff
typedef CPolyhedronPtr	SmartPtr
static mrpt::utils::CLASSINIT	_init_CPolyhedron
static mrpt::utils::TRuntimeClassId	classCPolyhedron
static const mrpt::utils::TRuntimeClassId *	classinfo
static const mrpt::utils::TRuntimeClassId *	_GetBaseClass ()
virtual const mrpt::utils::TRuntimeClassId *	GetRuntimeClass () const
	Returns information about the class of an object in runtime.
virtual mrpt::utils::CObject *	duplicate () const
	Returns a copy of the object, indepently of its class.
static mrpt::utils::CObject *	CreateObject ()
static CPolyhedronPtr	Create ()
RTTI stuff
static const mrpt::utils::TRuntimeClassId	classCRenderizableDisplayList
class	mrpt::utils::CStream

Member Typedef Documentation

typedef CPolyhedronPtr mrpt::opengl::CPolyhedron::SmartPtr

A typedef for the associated smart pointer

Definition at line 59 of file CPolyhedron.h.

Constructor & Destructor Documentation

mrpt::opengl::CPolyhedron::CPolyhedron ( ) [inline, private]

Basic empty constructor.

Definition at line 825 of file CPolyhedron.h.

mrpt::opengl::CPolyhedron::CPolyhedron	(	const vector< TPoint3D > &	vertices,
		const vector< TPolyhedronFace > &	faces,
		bool	doCheck = `true`
	)		`[inline, private]`

Basic constructor with a list of vertices and another of faces, checking for correctness.

Definition at line 829 of file CPolyhedron.h.

virtual mrpt::opengl::CPolyhedron::~CPolyhedron ( ) [inline, private, virtual]

Destructor.

Definition at line 851 of file CPolyhedron.h.

Member Function Documentation

static const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPolyhedron::_GetBaseClass ( ) [static, protected]

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

void mrpt::opengl::CPolyhedron::addEdges ( const TPolyhedronFace & e ) [private]

Adds, to the existing list of edges, each edge in a given face.

CPolyhedronPtr mrpt::opengl::CPolyhedron::augment ( double height ) const

Augments a polyhedron to a given height.

This operation is roughly dual to the truncation: given a body P, the operation dtdP and aP yield resembling results.

See also:: getDual,truncate,cantellate

CPolyhedronPtr mrpt::opengl::CPolyhedron::augment	(	double	height,
		size_t	numVertices
	)		const

Augments a polyhedron to a given height.

This method only affects to faces with certain number of vertices.

See also:: augment(double) const

CPolyhedronPtr mrpt::opengl::CPolyhedron::augment ( bool direction = false ) const

Augments a polyhedron, so that the resulting triangles are equilateral.

If the argument is true, triangles are "cut" from the polyhedron, instead of being added.

Exceptions:

std::logic_error a non-regular face has been found.

See also:: augment(double) const

CPolyhedronPtr mrpt::opengl::CPolyhedron::augment	(	size_t	numVertices,
		bool	direction = `false`
	)		const

Augments a polyhedron, so that the resulting triangles are equilateral; affects only faces with certain number of faces.

If the second argument is true, triangles are "cut" from the polyhedron.

Exceptions:

std::logic_error a non-regular face has been found.

See also:: augment(double) const

CPolyhedronPtr mrpt::opengl::CPolyhedron::cantellate ( double factor ) const

Cantellates a polyhedron to a given factor.

See also:: getDual,truncate,augment

static bool mrpt::opengl::CPolyhedron::checkConsistence	(	const vector< TPoint3D > &	vertices,
		const vector< TPolyhedronFace > &	faces
	)		`[static, private]`

Checks whether a set of faces is suitable for a set of vertices.

static void mrpt::opengl::CRenderizable::checkOpenGLError ( ) [static, protected, inherited]

Checks glGetError and throws an exception if an error situation is found.

CRenderizableDisplayList* mrpt::opengl::CRenderizableDisplayList::clone ( ) const [inline, inherited]

Interface for the stlplus smart pointer class.

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 90 of file CRenderizableDisplayList.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::Create ( ) [static]

static CPolyhedronPtr mrpt::opengl::CPolyhedron::Create	(	const vector< TPoint3D > &	vertices,
		const vector< vector< uint32_t > > &	faces
	)		`[inline, static]`

Creation of a polyhedron from its vertices and faces.

Exceptions:

logic_error if the polyhedron definition has flaws (bad vertex indices, etc.).

Definition at line 156 of file CPolyhedron.h.

References mrpt::opengl::CPolyhedron::TPolyhedronFace::vertices.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::Create	(	const vector< TPoint3D > &	vertices,
		const vector< TPolyhedronFace > &	faces
	)		`[inline, static]`

Creation of a polyhedron from its vertices and faces.

Exceptions:

logic_error if the polyhedron definition has flaws (bad vertex indices, etc.).

Definition at line 169 of file CPolyhedron.h.

References mrpt::opengl::CPolyhedron.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::Create ( const std::vector< math::TPolygon3D > & polys ) [static]

Creation from a set of polygons.

See also:: mrpt::math::TPolygon3D

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateArchimedeanRegularAntiprism	(	uint32_t	numBaseEdges,
		double	baseRadius
	)		`[inline, static]`

Creates a regular antiprism whose lateral polygons are equilateral triangles, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also:: CreateRegularAntiprism,CreateCustomAntiprism

Definition at line 521 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateArchimedeanRegularPrism	(	uint32_t	numBaseEdges,
		double	baseRadius
	)		`[inline, static]`

Creates a regular prism whose lateral area is comprised of squares, and so each face of its is a regular polygon.

Due to vertex transitivity, the resulting object is always archimedean.

See also:: CreateRegularPrism,CreateCustomPrism

Definition at line 514 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateBifrustum	(	const vector< TPoint2D > &	baseVertices,
		double	height1,
		double	ratio1,
		double	height2,
		double	ratio2
	)		`[static]`

Creates a bifrustum, or double truncated pyramid, given a base which will lie on the XY plane.

See also:: CreateFrustum,CreateDoublePyramid

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCatalanDoublePyramid	(	uint32_t	numBaseEdges,
		double	height
	)		`[inline, static]`

Creates a double pyramid whose dual is exactly an archimedean prism.

Creates an octahedron if numBaseEdges is equal to 4.

Todo:: Actually resulting height is significantly higher than that passed to the algorithm.

See also:: CreateDoublePyramid,CreateArchimedeanRegularPrism,getDual

Definition at line 565 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCatalanTrapezohedron	(	uint32_t	numBaseEdges,
		double	height
	)		`[inline, static]`

Creates a trapezohedron whose dual is exactly an archimedean antiprism.

Creates a cube if numBaseEdges is equal to 3.

Todo:: Actually resulting height is significantly higher than that passed to the algorithm.

See also:: CreateTrapezohedron,CreateArchimedeanRegularAntiprism,getDual

Definition at line 557 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCubicPrism	(	double	x1,
		double	x2,
		double	y1,
		double	y2,
		double	z1,
		double	z2
	)		`[static]`

Creates a cubic prism, given the coordinates of two opposite vertices.

Each edge will be parallel to one of the coordinate axes, although the orientation may change by assigning a pose to the object.

See also:: CreateCubicPrism(const mrpt::math::TPoint3D &,const mrpt::math::TPoint3D &),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCubicPrism	(	const TPoint3D &	p1,
		const TPoint3D &	p2
	)		`[inline, static]`

Creates a cubic prism, given two opposite vertices.

See also:: CreateCubicPrism(double,double,double,double,double,double),CreateParallelepiped,CreateCustomPrism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 429 of file CPolyhedron.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCuboctahedron ( double radius ) [inline, static]

Creates a cuboctahedron, consisting of six square faces and eight triangular ones (see http://en.wikipedia.org/wiki/Cuboctahedron).

There are several ways to create a cuboctahedron:

Hexahedron truncated to a certain extent.
Octahedron truncated to a certain extent.
Cantellated tetrahedron
Dual to a rhombic dodecahedron.

See also:: CreateHexahedron,CreateOctahedron,truncate,CreateTetrahedron,cantellate,CreateRhombicuboctahedron,CreateRhombicDodecahedron,

Definition at line 253 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCupola	(	uint32_t	numBaseEdges,
		double	edgeLength
	)		`[inline, static]`

Creates a cupola.

Exceptions:

std::logic_error if the number of edges is odd or less than four.

Definition at line 549 of file CPolyhedron.h.

References M_PI.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCustomAntiprism	(	const vector< TPoint2D > &	bottomBase,
		const vector< TPoint2D > &	topBase,
		double	height
	)		`[static]`

Creates a custom antiprism, using two custom bases.

For better results, the top base should be slightly rotated with respect to the bottom one.

See also:: CreateCustomPrism,CreateRegularAntiprism,CreateArchimedeanRegularAntiprism

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateCustomPrism	(	const vector< TPoint2D > &	baseVertices,
		double	height
	)		`[inline, static]`

Creates a custom prism with vertical edges, given any base which will lie on the XY plane.

See also:: CreateCubicPrism,CreateCustomAntiprism,CreateRegularPrism,CreateArchimedeanRegularPrism

Definition at line 459 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateDeltoidalHexecontahedron ( double radius ) [inline, static]

Creates a deltoidal hexecontahedron, dual to the rhombicosidodecahedron.

This body consists of 60 kites (see http://en.wikipedia.org/wiki/Deltoidal_hexecontahedron).

See also:: CreateRhombicosidodecahedron

Definition at line 411 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateDeltoidalIcositetrahedron ( double radius ) [inline, static]

Creates a deltoidal icositetrahedron, dual to the rhombicuboctahedron.

This body consists of 24 kites (see http://en.wikipedia.org/wiki/Deltoidal_icositetrahedron).

See also:: CreateRhombicuboctahedron

Definition at line 375 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateDodecahedron ( double radius ) [inline, static]

Creates a regular dodecahedron (see http://en.wikipedia.org/wiki/Dodecahedron).

The dodecahedron is created as the dual to an icosahedron.

See also:: CreateIcosahedron,getDual,CreateTruncatedDodecahedron,CreateTruncatedIcosahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 219 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateDoublePyramid	(	const vector< TPoint2D > &	baseVertices,
		double	height1,
		double	height2
	)		`[static]`

Creates a double pyramid, using a set of 2D vertices which will lie on the XY plane.

The second height is used with the downwards pointing pyramid, so that it will effectively point downwards if it's positive.

See also:: CreatePyramid,CreateBifrustum,CreateRegularDoublePyramid

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateEmpty ( ) [inline, static, private]

Creates an empty Polyhedron.

Definition at line 845 of file CPolyhedron.h.

References mrpt::opengl::CPolyhedron.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateFrustum	(	const vector< TPoint2D > &	baseVertices,
		double	height,
		double	ratio
	)		`[inline, static]`

This is a synonym for CreateTruncatedPyramid.

See also:: CreateTruncatedPyramid

Definition at line 452 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateHexahedron ( double radius ) [inline, static]

Creates a regular cube, also called hexahedron (see http://en.wikipedia.org/wiki/Hexahedron).

The hexahedron is created as a cubic prism which transitive edges. Another ways to create it include:

Dual to an octahedron.
Parallelepiped with three orthogonal, equally-lengthed vectors.
Triangular trapezohedron with proper height.

See also:: CreateOctahedron,getDual,CreateParallelepiped,CreateTrapezohedron,CreateTruncatedHexahedron,CreateTruncatedOctahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 200 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateIcosahedron ( double radius ) [inline, static]

Creates a regular icosahedron (see http://en.wikipedia.org/wiki/Icosahedron).

The icosahedron is created as a gyroelongated pentagonal bipyramid with transitive edges, and it's the dual to a dodecahedron.

See also:: CreateJohnsonSolidWithConstantBase,CreateDodecahedron,getDual,CreateTruncatedIcosahedron,CreateTruncatedDodecahedron,CreateIcosidodecahedron,CreateRhombicosidodecahedron

Definition at line 227 of file CPolyhedron.h.

References M_PI, and mrpt::utils::square().

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateIcosidodecahedron	(	double	radius,
		bool	type = `true`
	)		`[inline, static]`

Creates an icosidodecahedron, with 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Icosidodecahedron).

Certain truncations of either a dodecahedron or an icosahedron yield an icosidodecahedron. The dual of the icosidodecahedron is the rhombic triacontahedron. If the second argument is set to false, the lower rotunda is rotated. In this case, the object created is a pentagonal orthobirotunda (see http://en.wikipedia.org/wiki/Pentagonal_orthobirotunda). This object presents symmetry against the XY plane and is not vertex transitive, so it's a Johnson's solid.

See also:: CreateDodecahedron,CreateIcosahedron,truncate,CreateRhombicosidodecahedron,CreateRhombicTriacontahedron

Definition at line 288 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateJohnsonSolidWithConstantBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		const std::string &	components,
		size_t	shifts = `0`
	)		`[static]`

Creates a series of concatenated solids (most of which are prismatoids) whose base is a regular polygon with a given number of edges.

Every face of the resulting body will be a regular polygon, so it is a Johnson solid; in special cases, it may be archimedean or even platonic. The shape of the body is defined by the string argument, which can include one or more of the following:

String	Body	Restrictions
P+	Upward pointing pyramid	Must be the last object, vertex number cannot surpass 5
P-	Downward pointing pyramid	Must be the first object, vertex number cannot surpass 5
C+	Upward pointing cupola	Must be the last object, vertex number must be an even number in the range 4-10.
C-	Downward pointing cupola	Must be the first object, vertex number must be an even number in the range 4-10.
GC+	Upward pointing cupola, rotated	Must be the last object, vertex number must be an even number in the range 4-10.
GC-	Downward pointing cupola, rotated	Must be the first object, vertex number must be an even number in the range 4-10.
PR	Archimedean prism	Cannot abut other prism
A	Archimedean antiprism	None
R+	Upward pointing rotunda	Must be the last object, vertex number must be exactly 10
R-	Downward pointing rotunda	Must be the first object, vertex number must be exactly 10
GR+	Upward pointing rotunda, rotated	Must be the last object, vertex number must be exactly 10
GR-	Downward pointing rotunda	Must be the first object, vertex number must be exactly 10

Some examples of bodies are:

String	Vertices	Resulting body
P+	3	Tetrahedron
PR	4	Hexahedron
P-P+	4	Octahedron
A	3	Octahedron
C+PRC-	8	Rhombicuboctahedron
P-AP+	5	Icosahedron
R-R+	10	Icosidodecahedron

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateNoCheck	(	const vector< TPoint3D > &	vertices,
		const vector< TPolyhedronFace > &	faces
	)		`[inline, static, private]`

Creates a polyhedron without checking its correctness.

Definition at line 839 of file CPolyhedron.h.

References mrpt::opengl::CPolyhedron.

static mrpt::utils::CObject* mrpt::opengl::CPolyhedron::CreateObject ( ) [static]

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateOctahedron ( double radius ) [inline, static]

Creates a regular octahedron (see http://en.wikipedia.org/wiki/Octahedron).

The octahedron is created as a square bipyramid whit transitive edges and vertices. Another ways to create an octahedron are:

Dual to an hexahedron
Triangular antiprism with transitive vertices.
Conveniently truncated tetrahedron.

See also:: CreateHexahedron,getDual,CreateArchimedeanAntiprism,CreateTetrahedron,truncate,CreateTruncatedOctahedron,CreateTruncatedHexahedron,CreateCuboctahedron,CreateRhombicuboctahedron

Definition at line 211 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateParallelepiped	(	const TPoint3D &	base,
		const TPoint3D &	v1,
		const TPoint3D &	v2,
		const TPoint3D &	v3
	)		`[static]`

Creates a parallelepiped, given a base point and three vectors represented as points.

See also:: CreateCubicPrism

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreatePentagonalRotunda ( double radius ) [inline, static]

Creates a pentagonal rotunda (half an icosidodecahedron), consisting of six pentagons, ten triangles and a decagon (see http://en.wikipedia.org/wiki/Pentagonal_rotunda).

See also:: CreateIcosidodecahedron,CreateJohnsonSolidWithConstantBase

Definition at line 325 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreatePentakisDodecahedron ( double radius ) [inline, static]

Creates a pentakis dodecahedron, dual to the truncated icosahedron.

This body consists of 60 isosceles triangles (see http://en.wikipedia.org/wiki/Pentakis_dodecahedron).

See also:: CreateTruncatedIcosahedron

Definition at line 402 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreatePyramid	(	const vector< TPoint2D > &	baseVertices,
		double	height
	)		`[static]`

Creates a custom pyramid, using a set of 2D vertices which will lie on the XY plane.

See also:: CreateDoublePyramid,CreateFrustum,CreateBifrustum,CreateRegularPyramid

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRandomPolyhedron ( double radius ) [static]

Creates a random polyhedron from the static methods.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularAntiprism	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)		`[inline, static]`

Creates an antiprism whose base is a regular polygon.

The upper base is rotated $\frac\pi N$ with respect to the lower one, where N is the number of vertices in the base, and thus the lateral triangles are isosceles.

See also:: CreateCustomAntiprism,CreateArchimedeanRegularAntiprism

Definition at line 486 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularBifrustum	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height1,
		double	ratio1,
		double	height2,
		double	ratio2
	)		`[inline, static]`

Creates a bifrustum (double truncated pyramid) whose base is a regular polygon lying in the XY plane.

See also:: CreateBifrustum

Definition at line 542 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularDoublePyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height1,
		double	height2
	)		`[inline, static]`

Creates a regular double pyramid whose base is a regular polygon.

See also:: CreateDoublePyramid

Definition at line 507 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularFrustum	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	ratio
	)		`[inline, static]`

This is a synonym for CreateRegularTruncatedPyramid.

See also:: CreateRegularTruncatedPyramid

Definition at line 535 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularPrism	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)		`[inline, static]`

Creates a regular prism whose base is a regular polygon and whose edges are either parallel or perpendicular to the XY plane.

See also:: CreateCubicPrism,CreateCustomPrism,CreateArchimedeanRegularAntiprism

Definition at line 493 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularPyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height
	)		`[inline, static]`

Creates a regular pyramid whose base is a regular polygon.

See also:: CreatePyramid

Definition at line 500 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRegularTruncatedPyramid	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	ratio
	)		`[inline, static]`

Creates a regular truncated pyramid whose base is a regular polygon.

See also:: CreateTruncatedPyramid

Definition at line 528 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRhombicDodecahedron ( double radius ) [inline, static]

Creates a rhombic dodecahedron, dual to the cuboctahedron.

This body consists of 12 rhombi (see http://en.wikipedia.org/wiki/Rhombic_dodecahedron).

See also:: CreateCuboctahedron

Definition at line 348 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRhombicosidodecahedron ( double radius ) [inline, static]

Creates a rhombicosidodecahedron, consisting of 30 squares, 12 pentagons and 20 triangles (see http://en.wikipedia.org/wiki/Rhombicosidodecahedron).

This object can be obtained as the cantellation of either a dodecahedron or an icosahedron. The dual of the rhombicosidodecahedron is the deltoidal hexecontahedron.

See also:: CreateDodecahedron,CreateIcosahedron,CreateIcosidodecahedron,CreateDeltoidalHexecontahedron

Definition at line 312 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRhombicTriacontahedron ( double radius ) [inline, static]

Creates a rhombic triacontahedron, dual to the icosidodecahedron.

This body consists of 30 rhombi (see http://en.wikipedia.org/wiki/Rhombic_triacontahedron).

See also:: CreateIcosidodecahedron

Definition at line 384 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateRhombicuboctahedron	(	double	radius,
		bool	type = `true`
	)		`[inline, static]`

Creates a rhombicuboctahedron, with 18 squares and 8 triangles (see http://en.wikipedia.org/wiki/Rhombicuboctahedron), calculated as an elongated square bicupola.

It can also be calculated as a cantellated hexahedron or octahedron, and its dual is the deltoidal icositetrahedron. If the second argument is set to false, the lower cupola is rotated, so that the objet created is an elongated square gyrobicupola (see http://en.wikipedia.org/wiki/Elongated_square_gyrobicupola). This is not an archimedean solid, but a Johnson one, since it hasn't got vertex transitivity.

See also:: CreateJohnsonSolidWithConstantBase,CreateHexahedron,CreateOctahedron,cantellate,CreateCuboctahedron,CreateDeltoidalIcositetrahedron

Definition at line 278 of file CPolyhedron.h.

References mrpt::utils::square(), and M_PI.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTetrahedron ( double radius ) [inline, static]

Creates a regular tetrahedron (see http://en.wikipedia.org/wiki/Tetrahedron).

The tetrahedron is created as a triangular pyramid whose edges and vertices are transitive. The tetrahedron is the dual to itself.

See also:: CreatePyramid,CreateJohnsonSolidWithConstantBase,CreateTruncatedTetrahedron

Definition at line 189 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTetrakisHexahedron ( double radius ) [inline, static]

Creates a tetrakis hexahedron, dual to the truncated octahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Tetrakis_hexahedron).

See also:: CreateTruncatedOctahedron

Definition at line 366 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTrapezohedron	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	basesDistance
	)		`[static]`

Creates a trapezohedron, consisting of 2*N kites, where N is the number of edges in the base.

The base radius controls the polyhedron height, whilst the distance between bases affects the height. When the number of edges equals 3, the polyhedron is actually a parallelepiped, and it can even be a cube.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTriakisIcosahedron ( double radius ) [inline, static]

Creates a triakis icosahedron, dual to the truncated dodecahedron.

This body consists of 60 isosceles triangles http://en.wikipedia.org/wiki/Triakis_icosahedron).

See also:: CreateTruncatedDodecahedron

Definition at line 393 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTriakisOctahedron ( double radius ) [inline, static]

Creates a triakis octahedron, dual to the truncated hexahedron.

This body consists of 24 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_octahedron).

See also:: CreateTruncatedHexahedron

Definition at line 357 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTriakisTetrahedron ( double radius ) [inline, static]

Creates a triakis tetrahedron, dual to the truncated tetrahedron.

This body consists of 12 isosceles triangles (see http://en.wikipedia.org/wiki/Triakis_tetrahedron).

See also:: CreateTruncatedTetrahedron

Definition at line 339 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedDodecahedron ( double radius ) [inline, static]

Creates a truncated dodecahedron, consisting of 12 dodecagons and 20 triangles (see http://en.wikipedia.org/wiki/Truncated_dodecahedron).

The truncated dodecahedron is the dual to the triakis icosahedron.

See also:: CreateDodecahedron,CreateTriakisIcosahedron

Definition at line 296 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedHexahedron ( double radius ) [inline, static]

Creates a truncated hexahedron, with six octogonal faces and eight triangular ones (see http://en.wikipedia.org/wiki/Truncated_hexahedron).

The truncated octahedron is dual to the triakis octahedron.

See also:: CreateHexahedron,CreateTriakisOctahedron

Definition at line 261 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedIcosahedron ( double radius ) [inline, static]

Creates a truncated icosahedron, consisting of 20 hexagons and 12 pentagons.

This object resembles a typical soccer ball (see http://en.wikipedia.org/wiki/Truncated_icosahedron). The pentakis dodecahedron is the dual to the truncated icosahedron.

See also:: CreateIcosahedron,CreatePentakisDodecahedron

Definition at line 304 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedOctahedron ( double radius ) [inline, static]

Creates a truncated octahedron, with eight hexagons and eight squares (see http://en.wikipedia.org/wiki/Truncated_octahedron).

It's the dual to the tetrakis hexahedron.

See also:: CreateOctahedron,CreateTetrakisHexahedron

Definition at line 269 of file CPolyhedron.h.

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedPyramid	(	const vector< TPoint2D > &	baseVertices,
		double	height,
		double	ratio
	)		`[static]`

Creates a truncated pyramid, using a set of vertices which will lie on the XY plane.

Do not try to use with a ratio equal to zero; use CreatePyramid instead. When using a ratio of 1, it will create a Prism.

See also:: CreatePyramid,CreateBifrustum

static CPolyhedronPtr mrpt::opengl::CPolyhedron::CreateTruncatedTetrahedron ( double radius ) [inline, static]

Creates a truncated tetrahedron, consisting of four triangular faces and for hexagonal ones (see http://en.wikipedia.org/wiki/Truncated_tetrahedron).

Its dual is the triakis tetrahedron.

See also:: CreateTetrahedron,CreateTriakisTetrahedron

Definition at line 244 of file CPolyhedron.h.

virtual mrpt::utils::CObject* mrpt::opengl::CPolyhedron::duplicate ( ) const [virtual]

Returns a copy of the object, indepently of its class.

Implements mrpt::utils::CObject.

mrpt::utils::CObjectPtr mrpt::utils::CObject::duplicateGetSmartPtr ( ) const [inline, inherited]

Returns a copy of the object, indepently of its class, as a smart pointer (the newly created object will exist as long as any copy of this smart pointer).

Definition at line 151 of file CObject.h.

size_t mrpt::opengl::CPolyhedron::edgesInVertex ( size_t vertex ) const [private]

Returns how many edges converge in a given vertex.

void mrpt::opengl::CRenderizable::enableShowName ( bool showName = true ) [inline, inherited]

Enables or disables showing the name of the object as a label when rendering.

Definition at line 95 of file CRenderizable.h.

size_t mrpt::opengl::CPolyhedron::facesInVertex ( size_t vertex ) const [private]

Returns how many faces converge in a given vertex.

static vector<TPoint2D> mrpt::opengl::CPolyhedron::generateBase	(	uint32_t	numBaseEdges,
		double	baseRadius
	)		`[static, private]`

Generates a list of 2D vertices constituting a regular polygon.

static void mrpt::opengl::CPolyhedron::generateBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		vector< TPoint3D > &	vec
	)		`[static, private]`

Generates a list of 3D vertices constituting a regular polygon, appending it to an existing vector.

static vector<TPoint2D> mrpt::opengl::CPolyhedron::generateShiftedBase	(	uint32_t	numBaseEdges,
		double	baseRadius
	)		`[static, private]`

Generates a list of 2D vertices constituting a regular polygon, with an angle shift which makes it suitable for antiprisms.

static void mrpt::opengl::CPolyhedron::generateShiftedBase	(	uint32_t	numBaseEdges,
		double	baseRadius,
		double	height,
		double	shift,
		vector< TPoint3D > &	vec
	)		`[static, private]`

Generates a list of 3D vertices constituting a regular polygon conveniently shifted, appending it to an existing vector.

void mrpt::opengl::CPolyhedron::getCenter ( TPoint3D & center ) const

Gets the center of the polyhedron.

mrpt::utils::TColorf mrpt::opengl::CRenderizable::getColor ( ) const [inline, inherited]

Returns the object color property as a TColorf.

Definition at line 150 of file CRenderizable.h.

const mrpt::utils::TColor& mrpt::opengl::CRenderizable::getColor_u8 ( ) const [inline, inherited]

Returns the object color property as a TColor.

Definition at line 159 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorA ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 126 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorA_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 131 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorB ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 125 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorB_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 130 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorG ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 124 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorG_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 129 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getColorR ( ) const [inline, inherited]

Color components in the range [0,1].

Definition at line 123 of file CRenderizable.h.

uint8_t mrpt::opengl::CRenderizable::getColorR_u8 ( ) const [inline, inherited]

Color components in the range [0,255].

Definition at line 128 of file CRenderizable.h.

CPolyhedronPtr mrpt::opengl::CPolyhedron::getDual ( ) const

Given a polyhedron, creates its dual.

See also:: truncate,cantellate,augment

Exceptions:

std::logic_error Can't get the dual to this polyhedron.

void mrpt::opengl::CPolyhedron::getEdges ( vector< TPolyhedronEdge > & edges ) const [inline]

Gets a list with the polyhedron's edges.

Definition at line 621 of file CPolyhedron.h.

void mrpt::opengl::CPolyhedron::getEdgesLength ( vector< double > & lengths ) const

Gets a vector with each edge's length.

void mrpt::opengl::CPolyhedron::getFaces ( vector< TPolyhedronFace > & faces ) const [inline]

Gets a list with the polyhedron's faces.

Definition at line 627 of file CPolyhedron.h.

void mrpt::opengl::CPolyhedron::getFacesArea ( vector< double > & areas ) const

Gets a vector with each face's area.

Won't work properly if the polygons are not convex.

template<class T >

static size_t mrpt::opengl::CPolyhedron::getIntersection	(	const CPolyhedronPtr &	p1,
		const CPolyhedronPtr &	p2,
		T &	container
	)		`[inline, static]`

Gets the intersection of two polyhedra, either as a set or as a matrix of intersections.

Each intersection is represented by a TObject3D.

See also:: mrpt::math::TObject3D

Definition at line 700 of file CPolyhedron.h.

References mrpt::math::intersect().

double mrpt::opengl::CPolyhedron::getLineWidth ( ) const [inline]

Gets the wireframe lines width.

Definition at line 676 of file CPolyhedron.h.

const std::string& mrpt::opengl::CRenderizable::getName ( ) const [inline, inherited]

Returns the name of the object.

Definition at line 90 of file CRenderizable.h.

static unsigned int mrpt::opengl::CRenderizable::getNewTextureNumber ( ) [static, protected, inherited]

Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).

uint32_t mrpt::opengl::CPolyhedron::getNumberOfEdges ( ) const [inline]

Gets the amount of edges.

Definition at line 639 of file CPolyhedron.h.

uint32_t mrpt::opengl::CPolyhedron::getNumberOfFaces ( ) const [inline]

Gets the amount of faces.

Definition at line 645 of file CPolyhedron.h.

uint32_t mrpt::opengl::CPolyhedron::getNumberOfVertices ( ) const [inline]

Gets the amount of vertices.

Definition at line 633 of file CPolyhedron.h.

mrpt::math::TPose3D mrpt::opengl::CRenderizable::getPose ( ) const [inherited]

Returns the 3D pose of the object as TPose3D.

double mrpt::opengl::CRenderizable::getPosePitch ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 117 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPosePitchRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 120 of file CRenderizable.h.

const mrpt::poses::CPose3D& mrpt::opengl::CRenderizable::getPoseRef ( ) const [inline, inherited]

Returns a const ref to the 3D pose of the object as CPose3D (which explicitly contains the 3x3 rotation matrix)

Definition at line 105 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseRoll ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 118 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseRollRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 121 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseX ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 113 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseY ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 114 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseYaw ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in **DEGREES**.

Definition at line 116 of file CRenderizable.h.

References mrpt::utils::RAD2DEG().

double mrpt::opengl::CRenderizable::getPoseYawRad ( ) const [inline, inherited]

Rotation relative to parent coordinate origin, in radians.

Definition at line 119 of file CRenderizable.h.

double mrpt::opengl::CRenderizable::getPoseZ ( ) const [inline, inherited]

Translation relative to parent coordinate origin.

Definition at line 115 of file CRenderizable.h.

virtual const mrpt::utils::TRuntimeClassId* mrpt::opengl::CPolyhedron::GetRuntimeClass ( ) const [virtual]

Returns information about the class of an object in runtime.

Reimplemented from mrpt::opengl::CRenderizableDisplayList.

float mrpt::opengl::CRenderizable::getScaleX ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 145 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleY ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 146 of file CRenderizable.h.

float mrpt::opengl::CRenderizable::getScaleZ ( ) const [inline, inherited]

Get the current scaling factor in one axis.

Definition at line 147 of file CRenderizable.h.

void mrpt::opengl::CPolyhedron::getSetOfPolygons ( std::vector< math::TPolygon3D > & vec ) const

Gets the polyhedron as a set of polygons.

See also:: mrpt::math::TPolygon3D

void mrpt::opengl::CPolyhedron::getSetOfPolygonsAbsolute ( std::vector< math::TPolygon3D > & vec ) const

Gets the polyhedron as a set of polygons, with the pose transformation already applied.

See also:: mrpt::math::TPolygon3D,mrpt::poses::CPose3D

void mrpt::opengl::CPolyhedron::getVertices ( vector< TPoint3D > & vertices ) const [inline]

Gets a list with the polyhedron's vertices.

Definition at line 615 of file CPolyhedron.h.

double mrpt::opengl::CPolyhedron::getVolume ( ) const

Gets the polyhedron volume.

Won't work properly if the polyhedron is not convex.

bool mrpt::opengl::CPolyhedron::isClosed ( ) const [inline]

Returns true if the polygon is a completely closed object.

Definition at line 709 of file CPolyhedron.h.

bool mrpt::opengl::CRenderizable::isShowNameEnabled ( ) const [inline, inherited]

See also:: enableShowName

Definition at line 96 of file CRenderizable.h.

bool mrpt::opengl::CRenderizable::isVisible ( ) const [inline, inherited]

Is the object visible?

See also:: setVisibility

Definition at line 92 of file CRenderizable.h.

bool mrpt::opengl::CPolyhedron::isWireframe ( ) const [inline]

Returns whether the polyhedron will be rendered as a wireframe object.

Definition at line 663 of file CPolyhedron.h.

void mrpt::opengl::CPolyhedron::makeConvexPolygons ( )

Recomputes polygons, if necessary, so that each one is convex.

EIGEN_STRONG_INLINE void mrpt::opengl::CRenderizableDisplayList::notifyChange ( ) const [inline, protected, inherited]

Must be called to notify that the object has changed (so, the display list must be updated)

Definition at line 68 of file CRenderizableDisplayList.h.

virtual void mrpt::utils::CSerializable::readFromStream	(	mrpt::utils::CStream &	in,
		int	version
	)		`[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for loading from a CStream This can not be used directly be users, instead use "stream >> object;" for reading it from a stream or "stream >> object_ptr;" if the class is unknown apriori.

Parameters:

in	The input binary stream where the object data must read from.
version	The version of the object stored in the stream: use this version number in your code to know how to read the incoming data.

Exceptions:

std::exception On any error, see CStream::ReadBuffer

See also:: CStream

Implemented in mrpt::math::CMatrixD, and mrpt::math::CMatrix.

void mrpt::opengl::CRenderizableDisplayList::readFromStreamRender ( mrpt::utils::CStream & in ) [inline, protected, inherited]

Reimplemented from mrpt::opengl::CRenderizable.

Definition at line 77 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::readFromStreamRender().

static void mrpt::opengl::CRenderizable::releaseTextureName ( unsigned int i ) [static, protected, inherited]

virtual void mrpt::opengl::CRenderizableDisplayList::render ( ) const [virtual, inherited]

Render the object, regenerating the display list if needed, otherwise just calling it.

Implements mrpt::opengl::CRenderizable.

void mrpt::opengl::CPolyhedron::render_dl ( ) const [virtual]

Render.

See also:: CRenderizable

Implements mrpt::opengl::CRenderizableDisplayList.

static void mrpt::opengl::CRenderizable::renderTextBitmap	(	const char *	str,
		void *	fontStyle
	)		`[static, inherited]`

This method is safe for calling from within ::render() methods.

See also:: renderTextBitmap, mrpt::opengl::gl_utils

static void mrpt::opengl::CRenderizable::renderTextBitmap	(	int	screen_x,
		int	screen_y,
		const std::string &	str,
		float	color_r = `1`,
		float	color_g = `1`,
		float	color_b = `1`,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)		`[static, inherited]`

Render a text message in the current rendering context, creating a glViewport in the way (do not call within ::render() methods)

Coordinates (x,y) are 2D pixels, starting at bottom-left of the viewport. Negative numbers will wrap to the opposite side of the viewport (e.g. x=-10 means 10px fromt the right).
The text color is defined by (color_r,color_g,color_b), each float numbers in the range [0,1].
See also:
renderTextBitmap, textBitmapWidth, mrpt::opengl::gl_utils

CPolyhedronPtr mrpt::opengl::CPolyhedron::rotate ( double angle ) const

Rotates a polyhedron around the Z axis a given amount of radians.

In some cases, this operation may be necessary to view the symmetry between related objects.

See also:: scale

CPolyhedronPtr mrpt::opengl::CPolyhedron::scale ( double factor ) const

Scales a polyhedron to a given factor.

Exceptions:

std::logic_error factor is not a strictly positive number.

See also:: rotate

CRenderizable& mrpt::opengl::CRenderizable::setColor ( const mrpt::utils::TColorf & c ) [inline, inherited]

Parameters:

c	Changes the default object color

Returns:: a ref to this

Definition at line 151 of file CRenderizable.h.

References mrpt::utils::TColorf::R, mrpt::utils::TColorf::G, mrpt::utils::TColorf::B, and mrpt::utils::TColorf::A.

CRenderizable& mrpt::opengl::CRenderizable::setColor	(	double	R,
		double	G,
		double	B,
		double	A = `1`
	)		`[inline, inherited]`

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns:: a ref to this

Definition at line 157 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColor_u8 ( const mrpt::utils::TColor & c ) [inline, virtual, inherited]

Changes the default object color.

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 106 of file CRenderizableDisplayList.h.

References mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColor_u8	(	uint8_t	R,
		uint8_t	G,
		uint8_t	B,
		uint8_t	A = `255`
	)		`[inline, inherited]`

Set the color components of this object (R,G,B,Alpha, in the range 0-1)

Returns:: a ref to this

Definition at line 164 of file CRenderizable.h.

References mrpt::opengl::CRenderizable::setColor_u8().

Referenced by mrpt::opengl::CRenderizable::setColor_u8().

CRenderizable& mrpt::opengl::CRenderizable::setColorA ( const double a ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 136 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorA_u8 ( const uint8_t a ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 105 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorB ( const double b ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 135 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorB_u8 ( const uint8_t b ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 104 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorG ( const double g ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 134 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorG_u8 ( const uint8_t g ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 103 of file CRenderizableDisplayList.h.

CRenderizable& mrpt::opengl::CRenderizable::setColorR ( const double r ) [inline, inherited]

Color components in the range [0,1].

Returns:: a ref to this

Definition at line 133 of file CRenderizable.h.

virtual CRenderizable& mrpt::opengl::CRenderizableDisplayList::setColorR_u8 ( const uint8_t r ) [inline, virtual, inherited]

Color components in the range [0,255].

Returns:: a ref to this

Reimplemented from mrpt::opengl::CRenderizable.

Reimplemented in mrpt::opengl::CSetOfTriangles.

Definition at line 102 of file CRenderizableDisplayList.h.

void mrpt::opengl::CPolyhedron::setLineWidth ( double lineWidth ) [inline]

Sets the width used to render lines, when wireframe rendering is activated.

Definition at line 682 of file CPolyhedron.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

CRenderizable& mrpt::opengl::CRenderizable::setLocation	(	double	x,
		double	y,
		double	z
	)		`[inline, inherited]`

Changes the location of the object, keeping untouched the orientation.

Returns:: a ref to this

Definition at line 108 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setLocation ( const mrpt::math::TPoint3D & p ) [inline, inherited]

Changes the location of the object, keeping untouched the orientation.

Returns:: a ref to this

Definition at line 111 of file CRenderizable.h.

References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.

void mrpt::opengl::CRenderizable::setName ( const std::string & n ) [inline, inherited]

Changes the name of the object.

Definition at line 89 of file CRenderizable.h.

bool mrpt::opengl::CPolyhedron::setNormal	(	TPolyhedronFace &	f,
		bool	doCheck = `true`
	)		`[private]`

Calculates the normal vector to a face.

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPose3D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::math::TPose3D & o ) [inherited]

Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint3D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setPose ( const mrpt::poses::CPoint2D & o ) [inherited]

Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)

CRenderizable& mrpt::opengl::CRenderizable::setScale ( float s ) [inline, inherited]

Scale to apply to the object, in all three axes (default=1)

Returns:: a ref to this

Definition at line 143 of file CRenderizable.h.

CRenderizable& mrpt::opengl::CRenderizable::setScale	(	float	sx,
		float	sy,
		float	sz
	)		`[inline, inherited]`

Scale to apply to the object in each axis (default=1)

Returns:: a ref to this

Definition at line 144 of file CRenderizable.h.

void mrpt::opengl::CRenderizable::setVisibility ( bool visible = true ) [inline, inherited]

Set object visibility (default=true)

See also:: isVisible

Definition at line 93 of file CRenderizable.h.

void mrpt::opengl::CPolyhedron::setWireframe ( bool enabled = true ) [inline]

Sets whether the polyhedron will be rendered as a wireframe object.

Definition at line 669 of file CPolyhedron.h.

References mrpt::opengl::CRenderizableDisplayList::notifyChange().

virtual bool mrpt::opengl::CRenderizableDisplayList::should_skip_display_list_cache ( ) const [inline, protected, virtual, inherited]

Optional: If the object has some state in which creating a display list is NOT preferred over direct rendering, implement this method and return "true" in those cases.

Reimplemented in mrpt::opengl::CSphere.

Definition at line 75 of file CRenderizableDisplayList.h.

static int mrpt::opengl::CRenderizable::textBitmapWidth	(	const std::string &	str,
		mrpt::opengl::TOpenGLFont	font = `mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24`
	)		`[static, inherited]`

Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().

See also:: renderTextBitmap, mrpt::opengl::gl_utils

virtual bool mrpt::opengl::CPolyhedron::traceRay	(	const mrpt::poses::CPose3D &	o,
		double &	dist
	)		const `[virtual]`

Ray trace.

See also:: CRenderizable

Reimplemented from mrpt::opengl::CRenderizable.

CPolyhedronPtr mrpt::opengl::CPolyhedron::truncate ( double factor ) const

Truncates a polyhedron to a given factor.

See also:: getDual,cantellate,augment

Exceptions:

std::logic_error Polyhedron truncation results in skew polygons and thus it's impossible to perform.

void mrpt::opengl::CPolyhedron::updatePolygons ( ) const

Updates the mutable list of polygons used in rendering and ray tracing.

virtual void mrpt::utils::CSerializable::writeToStream	(	mrpt::utils::CStream &	out,
		int *	getVersion
	)		const `[protected, pure virtual, inherited]`

Introduces a pure virtual method responsible for writing to a CStream.

This can not be used directly be users, instead use "stream << object;" for writing it to a stream.

Parameters:

out	The output binary stream where object must be dumped.
getVersion	If NULL, the object must be dumped. If not, only the version of the object dump must be returned in this pointer. This enables the versioning of objects dumping and backward compatibility with previously stored data.

Exceptions:

std::exception On any error, see CStream::WriteBuffer