9 #ifndef opengl_CRenderizable_H
10 #define opengl_CRenderizable_H
25 class COpenGLViewport;
54 mrpt::utils::TColor m_color;
55 mrpt::poses::CPose3D m_pose;
56 float m_scale_x, m_scale_y, m_scale_z;
63 void setName(const
std::
string &n) { m_name=n; }
64 const std::string &
getName()
const {
return m_name; }
87 inline double getPoseX()
const {
return m_pose.x(); }
88 inline double getPoseY()
const {
return m_pose.y(); }
89 inline double getPoseZ()
const {
return m_pose.z(); }
97 inline double getColorR()
const {
return m_color.R/255.; }
98 inline double getColorG()
const {
return m_color.G/255.; }
99 inline double getColorB()
const {
return m_color.B/255.; }
100 inline double getColorA()
const {
return m_color.A/255.; }
118 inline CRenderizable&
setScale(
float sx,
float sy,
float sz) { m_scale_x=sx; m_scale_y=sy; m_scale_z = sz;
return *
this; }
131 inline CRenderizable&
setColor(
double R,
double G,
double B,
double A=1) {
return setColor_u8(R*255,G*255,B*255,A*255); }
155 virtual void render()
const = 0;
169 const std::string &str,
180 const std::string &str,
198 static unsigned int getNewTextureNumber();
199 static void releaseTextureName(
unsigned int i);
206 OPENGL_IMPEXP CRenderizablePtr & operator<<(CRenderizablePtr &r,const
mrpt::poses::CPose3D &p);
double getColorG() const
Color components in the range [0,1].
CRenderizable & setColorB(const double b)
Color components in the range [0,1].
A set of object, which are referenced to the coordinates framework established in this object...
The virtual base class which provides a unified interface for all persistent objects in MRPT...
virtual CRenderizable & setColorA_u8(const uint8_t a)
Color components in the range [0,255].
double getPoseRollRad() const
Rotation relative to parent coordinate origin, in radians.
CRenderizable & setLocation(const mrpt::math::TPoint3D &p)
Changes the location of the object, keeping untouched the orientation.
The base class of 3D objects that can be directly rendered through OpenGL.
double getPoseX() const
Translation relative to parent coordinate origin.
bool isShowNameEnabled() const
CRenderizable & setLocation(double x, double y, double z)
Changes the location of the object, keeping untouched the orientation.
std::deque< CRenderizablePtr > CListOpenGLObjects
A list of objects pointers, automatically managing memory free at destructor, and managing copies cor...
virtual CRenderizable & setColorR_u8(const uint8_t r)
Color components in the range [0,255].
CRenderizable & setColor(const mrpt::utils::TColorf &c)
void enableShowName(bool showName=true)
Enables or disables showing the name of the object as a label when rendering.
double getPoseRoll() const
Rotation relative to parent coordinate origin, in DEGREES.
double z
X,Y,Z coordinates.
CRenderizable & setColorA(const double a)
Color components in the range [0,1].
double getPoseYawRad() const
Rotation relative to parent coordinate origin, in radians.
A viewport within a COpenGLScene, containing a set of OpenGL objects to render.
CRenderizable & setColorR(const double r)
Color components in the range [0,1].
mrpt::utils::TColorf getColor() const
Returns the object color property as a TColorf.
#define DEFINE_VIRTUAL_SERIALIZABLE(class_name)
This declaration must be inserted in virtual CSerializable classes definition:
This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...
void OPENGL_IMPEXP checkOpenGLError()
Checks glGetError and throws an exception if an error situation is found.
virtual CRenderizable & setColorB_u8(const uint8_t b)
Color components in the range [0,255].
#define DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
This declaration must be inserted in all CSerializable classes definition, before the class declarati...
double RAD2DEG(const double x)
Radians to degrees.
TOpenGLFont
Existing fonts for 2D texts in mrpt::opengl methods.
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)
class BASE_IMPEXP CSerializable
virtual CRenderizable & setColorG_u8(const uint8_t g)
Color components in the range [0,255].
bool isVisible() const
Is the object visible?
double getColorB() const
Color components in the range [0,1].
CRenderizable & setScale(float sx, float sy, float sz)
Scale to apply to the object in each axis (default=1)
void OPENGL_IMPEXP renderTextBitmap(const char *str, void *fontStyle)
This method is safe for calling from within ::render() methods.
CRenderizable & setScale(float s)
Scale to apply to the object, in all three axes (default=1)
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)
float getScaleZ() const
Get the current scaling factor in one axis.
double getPoseYaw() const
Rotation relative to parent coordinate origin, in DEGREES.
A class used to store a 2D point.
A class used to store a 3D point.
const mrpt::utils::TColor & getColor_u8() const
Returns the object color property as a TColor.
double getPosePitch() const
Rotation relative to parent coordinate origin, in DEGREES.
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
double getColorA() const
Color components in the range [0,1].
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
double getPosePitchRad() const
Rotation relative to parent coordinate origin, in radians.
int OPENGL_IMPEXP 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().
void setVisibility(bool visible=true)
Set object visibility (default=true)
double getPoseY() const
Translation relative to parent coordinate origin.
const std::string & getName() const
Returns the name of the object.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
double getColorR() const
Color components in the range [0,1].
const mrpt::poses::CPose3D & getPoseRef() const
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains t...
Lightweight 3D pose (three spatial coordinates, plus three angular coordinates).
CRenderizable & setColorG(const double g)
Color components in the range [0,1].
A RGB color - floats in the range [0,1].
uint8_t getColorG_u8() const
Color components in the range [0,255].
uint8_t getColorA_u8() const
Color components in the range [0,255].
float getScaleX() const
Get the current scaling factor in one axis.
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
float getScaleY() const
Get the current scaling factor in one axis.
CRenderizable * clone() const
Interface for the stlplus smart pointer class.
uint8_t getColorB_u8() const
Color components in the range [0,255].
uint8_t getColorR_u8() const
Color components in the range [0,255].
double getPoseZ() const
Translation relative to parent coordinate origin.