9 #ifndef opengl_COpenGLStandardObject_H 10 #define opengl_COpenGLStandardObject_H 34 std::vector<
mrpt::math::TPoint3D> vertices;
42 std::vector<_GLENUM> enabled;
49 virtual
void render_dl() const;
51 virtual
void getBoundingBox(
mrpt::math::TPoint3D &bb_min,
mrpt::math::TPoint3D &bb_max) const;
56 virtual
bool traceRay(const
mrpt::poses::CPose3D &o,
double &dist) const;
61 static COpenGLStandardObjectPtr Create(_GLENUM
t,const
std::vector<
mrpt::math::TPoint3D> &v,uint32_t
cs=0,const
std::vector<_GLENUM> &en=
std::vector<_GLENUM>());
66 inline
void enable(_GLENUM flag) {
67 if (find(enabled.begin(),enabled.end(),flag)==enabled.end()) enabled.push_back(flag);
73 void disable(_GLENUM flag);
78 return find(enabled.begin(),enabled.end(),flag)!=enabled.end();
89 inline void setFlags(
const std::vector<_GLENUM> &v) {
97 for (
size_t i=0;i<3;i++) normal[i]=n[i];
104 for (
size_t i=0;i<3;i++) n[i]=normal[i];
110 COpenGLStandardObject(_GLENUM
t,
const std::vector<mrpt::math::TPoint3D> &v,uint32_t
cs,
const std::vector<_GLENUM> &en):type(t),vertices(v),chunkSize(cs),enabled(en) {
111 for (
size_t i=0;i<3;i++) normal[i]=0.0;
117 for (
size_t i=0;i<3;i++) normal[i]=0.0;
void setFlags(const std::vector< _GLENUM > &v)
Set the list of all openGL flags.
COpenGLStandardObject(_GLENUM t, const std::vector< mrpt::math::TPoint3D > &v, uint32_t cs, const std::vector< _GLENUM > &en)
Constructor with all the information.
EIGEN_STRONG_INLINE const AdjointReturnType t() const
Transpose.
COpenGLStandardObject()
Baic empty constructor, initializes to default.
void getNormal(float(&n)[3]) const
Gets the normal vector to this object.
EIGEN_STRONG_INLINE void notifyChange() const
Must be called to notify that the object has changed (so, the display list must be updated) ...
virtual ~COpenGLStandardObject()
Destructor.
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...
void setNormal(const float(&n)[3])
Set the normal vector to this object.
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...
bool isEnabled(_GLENUM flag) const
Check whether an openGL will be enabled during the rendering of this object.
void getEnabledFlags(std::vector< _GLENUM > &v) const
Get a list of all currently enabled openGL flags.
Objects of this class represent a generic openGL object without specific geometric properties...
#define DEFINE_SERIALIZABLE_POST_CUSTOM_BASE_LINKAGE(class_name, base_name, _LINKAGE_)