9 #ifndef opengl_CAssimpModel_H 10 #define opengl_CAssimpModel_H 47 void render_dl() const;
50 virtual
void getBoundingBox(
mrpt::math::TPoint3D &bb_min,
mrpt::math::TPoint3D &bb_max) const;
55 void loadScene( const
std::
string &file_name );
61 void evaluateAnimation(
double time_anim );
64 virtual
bool traceRay(const
mrpt::poses::CPose3D &o,
double &dist) const;
69 mrpt::utils::CImagePtr
img_rgb, img_alpha;
size_t id_idx
indices in m_textureIds. string::npos for non-initialized ones.
mrpt::math::TPoint3D m_bbox_min
mrpt::utils::CImagePtr img_rgb
A renderizable object suitable for rendering with OpenGL's display lists.
#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...
std::map< std::string, TInfoPerTexture > m_textureIdMap
bool BASE_IMPEXP traceRay(const vector< TPolygonWithPlane > &vec, const mrpt::poses::CPose3D &pose, double &dist)
Fast ray tracing method using polygons' properties.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
#define DEFINE_SERIALIZABLE(class_name)
This declaration must be inserted in all CSerializable classes definition, within the class declarati...
stlplus::smart_ptr< TImplAssimp > m_assimp_scene
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)
A container for automatic deletion of lib3ds's scene when the last reference of the smart_ptr's is de...
This class can load & render 3D models in a number of different formats (requires the library assimp)...
std::vector< unsigned int > m_textureIds