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<h1>CSetOfTriangles.h</h1><a href="_c_set_of_triangles_8h.html">Go to the documentation of this file.</a><div class="fragment"><pre class="fragment"><a name="l00001"></a>00001 <span class="comment">/* +---------------------------------------------------------------------------+</span>
<a name="l00002"></a>00002 <span class="comment"> | The Mobile Robot Programming Toolkit (MRPT) C++ library |</span>
<a name="l00003"></a>00003 <span class="comment"> | |</span>
<a name="l00004"></a>00004 <span class="comment"> | http://mrpt.sourceforge.net/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2010 University of Malaga |</span>
<a name="l00007"></a>00007 <span class="comment"> | |</span>
<a name="l00008"></a>00008 <span class="comment"> | This software was written by the Machine Perception and Intelligent |</span>
<a name="l00009"></a>00009 <span class="comment"> | Robotics Lab, University of Malaga (Spain). |</span>
<a name="l00010"></a>00010 <span class="comment"> | Contact: Jose-Luis Blanco <jlblanco@ctima.uma.es> |</span>
<a name="l00011"></a>00011 <span class="comment"> | |</span>
<a name="l00012"></a>00012 <span class="comment"> | This file is part of the MRPT project. |</span>
<a name="l00013"></a>00013 <span class="comment"> | |</span>
<a name="l00014"></a>00014 <span class="comment"> | MRPT is free software: you can redistribute it and/or modify |</span>
<a name="l00015"></a>00015 <span class="comment"> | it under the terms of the GNU General Public License as published by |</span>
<a name="l00016"></a>00016 <span class="comment"> | the Free Software Foundation, either version 3 of the License, or |</span>
<a name="l00017"></a>00017 <span class="comment"> | (at your option) any later version. |</span>
<a name="l00018"></a>00018 <span class="comment"> | |</span>
<a name="l00019"></a>00019 <span class="comment"> | MRPT is distributed in the hope that it will be useful, |</span>
<a name="l00020"></a>00020 <span class="comment"> | but WITHOUT ANY WARRANTY; without even the implied warranty of |</span>
<a name="l00021"></a>00021 <span class="comment"> | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |</span>
<a name="l00022"></a>00022 <span class="comment"> | GNU General Public License for more details. |</span>
<a name="l00023"></a>00023 <span class="comment"> | |</span>
<a name="l00024"></a>00024 <span class="comment"> | You should have received a copy of the GNU General Public License |</span>
<a name="l00025"></a>00025 <span class="comment"> | along with MRPT. If not, see <http://www.gnu.org/licenses/>. |</span>
<a name="l00026"></a>00026 <span class="comment"> | |</span>
<a name="l00027"></a>00027 <span class="comment"> +---------------------------------------------------------------------------+ */</span>
<a name="l00028"></a>00028 <span class="preprocessor">#ifndef opengl_CSetOfTriangles_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CSetOfTriangles_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include <<a class="code" href="_c_renderizable_8h.html">mrpt/opengl/CRenderizable.h</a>></span>
<a name="l00032"></a>00032 <span class="preprocessor">#include <<a class="code" href="geometry_8h.html">mrpt/math/geometry.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {
<a name="l00036"></a>00036 <span class="keyword">namespace </span>opengl
<a name="l00037"></a>00037 {
<a name="l00038"></a><a class="code" href="namespacemrpt_1_1opengl.html#a130edb59ca91662cd473518d426d75ce">00038</a> <span class="keyword">class </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html" title="A set of colored triangles.">CSetOfTriangles</a>;
<a name="l00039"></a>00039
<a name="l00040"></a>00040 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00041"></a>00041 <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html" title="A set of colored triangles.">CSetOfTriangles</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">/** A set of colored triangles.</span>
<a name="l00044"></a>00044 <span class="comment"> * This class can be used to draw any solid, arbitrarily complex object (without textures).</span>
<a name="l00045"></a>00045 <span class="comment"> * \sa opengl::COpenGLScene, CSetOfTexturedTriangles</span>
<a name="l00046"></a>00046 <span class="comment"> */</span>
<a name="l00047"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html">00047</a> class <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html" title="A set of colored triangles.">CSetOfTriangles</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable.html" title="The base class of 3D objects that can be directly rendered through OpenGL.">CRenderizable</a>
<a name="l00048"></a>00048 {
<a name="l00049"></a>00049 <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html" title="A set of colored triangles.">CSetOfTriangles</a> )
<a name="l00050"></a>00050 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00051"></a>00051 <span class="comment"> /**</span>
<a name="l00052"></a>00052 <span class="comment"> * Triangle definition. Each vertex has three spatial coordinates and four color values.</span>
<a name="l00053"></a>00053 <span class="comment"> */</span>
<a name="l00054"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html">00054</a> <span class="keyword">struct </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html" title="Triangle definition.">TTriangle</a>
<a name="l00055"></a>00055 {
<a name="l00056"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#ac196ed881115b01774f2204fc0d322af">00056</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#ac196ed881115b01774f2204fc0d322af">TTriangle</a>() { }
<a name="l00057"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#a8047c7abf39b144e819c4afbfff6375b">00057</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#a8047c7abf39b144e819c4afbfff6375b">TTriangle</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1math_1_1_t_polygon3_d.html" title="3D polygon, inheriting from std::vector&lt;TPoint3D&gt;">mrpt::math::TPolygon3D</a> &p) {
<a name="l00058"></a>00058 <a class="code" href="utils__defs_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(p.size()==3)
<a name="l00059"></a>00059 <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0;i<3;i++) {
<a name="l00060"></a>00060 x[i]=p[i].x; y[i]=p[i].y; z[i]=p[i].z; r[i]=g[i]=b[i]=a[i]=1; }
<a name="l00061"></a>00061 }
<a name="l00062"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#a876c841a3330465168251d98929fd20f">00062</a> <span class="keywordtype">float</span> x[3],y[3],z[3];
<a name="l00063"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html#a78775aaaded462cb10df8d0be59152e7">00063</a> <span class="keywordtype">float</span> r[3],g[3],b[3],a[3];
<a name="l00064"></a>00064 };<span class="comment"></span>
<a name="l00065"></a>00065 <span class="comment"> /**</span>
<a name="l00066"></a>00066 <span class="comment"> * Const iterator type.</span>
<a name="l00067"></a>00067 <span class="comment"> */</span>
<a name="l00068"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a4de0f20ccbbb8e340ad6fb70869000d3">00068</a> <span class="keyword">typedef</span> std::vector<TTriangle>::const_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a4de0f20ccbbb8e340ad6fb70869000d3" title="Const iterator type.">const_iterator</a>;<span class="comment"></span>
<a name="l00069"></a>00069 <span class="comment"> /**</span>
<a name="l00070"></a>00070 <span class="comment"> * Const reverse iterator type.</span>
<a name="l00071"></a>00071 <span class="comment"> */</span>
<a name="l00072"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#ade4f743d63e1a393bb3492e84e112e60">00072</a> <span class="keyword">typedef</span> std::vector<TTriangle>::const_reverse_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#ade4f743d63e1a393bb3492e84e112e60" title="Const reverse iterator type.">const_reverse_iterator</a>;
<a name="l00073"></a>00073 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00074"></a>00074 <span class="comment"> /**</span>
<a name="l00075"></a>00075 <span class="comment"> * List of triangles.</span>
<a name="l00076"></a>00076 <span class="comment"> * \sa TTriangle</span>
<a name="l00077"></a>00077 <span class="comment"> */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#ad673d06142eafb64d817ddcf69fe87b7">00078</a> std::vector<TTriangle> m_triangles;<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /**</span>
<a name="l00080"></a>00080 <span class="comment"> * Transparency enabling.</span>
<a name="l00081"></a>00081 <span class="comment"> */</span>
<a name="l00082"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a34f5de550b224071e563949de6b1c573">00082</a> <span class="keywordtype">bool</span> m_enableTransparency;<span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /**</span>
<a name="l00084"></a>00084 <span class="comment"> * Mutable variable used to check whether polygons need to be recalculated.</span>
<a name="l00085"></a>00085 <span class="comment"> */</span>
<a name="l00086"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a2b3edfde7e7ca5b4cb8d60e782460555">00086</a> <span class="keyword">mutable</span> <span class="keywordtype">bool</span> polygonsUpToDate;<span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /**</span>
<a name="l00088"></a>00088 <span class="comment"> * Polygon cache.</span>
<a name="l00089"></a>00089 <span class="comment"> */</span>
<a name="l00090"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#aa717c8db2c2e65f134486154be4a63a5">00090</a> <span class="keyword">mutable</span> std::vector<mrpt::math::TPolygonWithPlane> tmpPolygons;
<a name="l00091"></a>00091 <span class="keyword">public</span>:<span class="comment"></span>
<a name="l00092"></a>00092 <span class="comment"> /**</span>
<a name="l00093"></a>00093 <span class="comment"> * Polygon cache updating.</span>
<a name="l00094"></a>00094 <span class="comment"> */</span>
<a name="l00095"></a>00095 <span class="keywordtype">void</span> updatePolygons() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /**</span>
<a name="l00097"></a>00097 <span class="comment"> * Clear this object.</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a580a69ee90c09e271ae4ad47c69e302d">00099</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a580a69ee90c09e271ae4ad47c69e302d" title="Clear this object.">clearTriangles</a>() { m_triangles.clear();polygonsUpToDate=<span class="keyword">false</span>; }<span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment"> /**</span>
<a name="l00101"></a>00101 <span class="comment"> * Get triangle count.</span>
<a name="l00102"></a>00102 <span class="comment"> */</span>
<a name="l00103"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#aeb171526dd30f2547c3c224bc60930b3">00103</a> <span class="keyword">inline</span> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#aeb171526dd30f2547c3c224bc60930b3" title="Get triangle count.">getTrianglesCount</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_triangles.size(); }<span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment"> /**</span>
<a name="l00105"></a>00105 <span class="comment"> * Gets the triangle in a given position.</span>
<a name="l00106"></a>00106 <span class="comment"> */</span>
<a name="l00107"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a590efaa8e72f4f976551af55aad021e7">00107</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a590efaa8e72f4f976551af55aad021e7" title="Gets the triangle in a given position.">getTriangle</a>(<span class="keywordtype">size_t</span> idx, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html" title="Triangle definition.">TTriangle</a> &t)<span class="keyword"> const </span>{ <a class="code" href="utils__defs_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(idx<m_triangles.size()); t=m_triangles[idx]; }<span class="comment"></span>
<a name="l00108"></a>00108 <span class="comment"> /**</span>
<a name="l00109"></a>00109 <span class="comment"> * Inserts a triangle into the set.</span>
<a name="l00110"></a>00110 <span class="comment"> */</span>
<a name="l00111"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a9a01113effe5fa41724c71b0648686a4">00111</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a9a01113effe5fa41724c71b0648686a4" title="Inserts a triangle into the set.">insertTriangle</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html" title="Triangle definition.">TTriangle</a> &t ) { m_triangles.push_back(t);polygonsUpToDate=<span class="keyword">false</span>; }<span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /**</span>
<a name="l00113"></a>00113 <span class="comment"> * Inserts a set of triangles, bounded by iterators, into this set.</span>
<a name="l00114"></a>00114 <span class="comment"> * \sa insertTriangle</span>
<a name="l00115"></a>00115 <span class="comment"> */</span>
<a name="l00116"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a773fd9c5ef5401e91bbebd8f04650eed">00116</a> <span class="keyword">template</span><<span class="keyword">class</span> InputIterator> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a773fd9c5ef5401e91bbebd8f04650eed" title="Inserts a set of triangles, bounded by iterators, into this set.">insertTriangles</a>(<span class="keyword">const</span> InputIterator &begin,<span class="keyword">const</span> InputIterator &end) {
<a name="l00117"></a>00117 m_triangles.insert(m_triangles.end(),begin,end);
<a name="l00118"></a>00118 polygonsUpToDate=<span class="keyword">false</span>;
<a name="l00119"></a>00119 }<span class="comment"></span>
<a name="l00120"></a>00120 <span class="comment"> /**</span>
<a name="l00121"></a>00121 <span class="comment"> * Inserts an existing CSetOfTriangles into this one.</span>
<a name="l00122"></a>00122 <span class="comment"> */</span>
<a name="l00123"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a2fd29fb8e7e2ef099833c5e9fc4060ff">00123</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a2fd29fb8e7e2ef099833c5e9fc4060ff" title="Inserts an existing CSetOfTriangles into this one.">insertTriangles</a>(<span class="keyword">const</span> CSetOfTrianglesPtr &p) {
<a name="l00124"></a>00124 reserve(m_triangles.size()+p->m_triangles.size());
<a name="l00125"></a>00125 m_triangles.insert(m_triangles.end(),p->m_triangles.begin(),p->m_triangles.end());
<a name="l00126"></a>00126 polygonsUpToDate=<span class="keyword">false</span>;
<a name="l00127"></a>00127 }<span class="comment"></span>
<a name="l00128"></a>00128 <span class="comment"> /**</span>
<a name="l00129"></a>00129 <span class="comment"> * Reserves memory for certain number of triangles, avoiding multiple memory allocation calls.</span>
<a name="l00130"></a>00130 <span class="comment"> */</span>
<a name="l00131"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#aeafb17a735b354c4ec1780045071334f">00131</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#aeafb17a735b354c4ec1780045071334f" title="Reserves memory for certain number of triangles, avoiding multiple memory allocation...">reserve</a>(<span class="keywordtype">size_t</span> t) {
<a name="l00132"></a>00132 m_triangles.reserve(t);
<a name="l00133"></a>00133 }
<a name="l00134"></a>00134 <span class="comment"></span>
<a name="l00135"></a>00135 <span class="comment"> /**</span>
<a name="l00136"></a>00136 <span class="comment"> * Enables or disables transparency.</span>
<a name="l00137"></a>00137 <span class="comment"> */</span>
<a name="l00138"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a31079c577c342eed1b82f2b887d8adae">00138</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a31079c577c342eed1b82f2b887d8adae" title="Enables or disables transparency.">enableTransparency</a>( <span class="keywordtype">bool</span> v ) { m_enableTransparency = v; }<span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /**</span>
<a name="l00140"></a>00140 <span class="comment"> * Changes the color to all the vertices in each triangle of the set.</span>
<a name="l00141"></a>00141 <span class="comment"> */</span>
<a name="l00142"></a>00142 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColor(<span class="keywordtype">double</span> R,<span class="keywordtype">double</span> G,<span class="keywordtype">double</span> B,<span class="keywordtype">double</span> A);<span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /**</span>
<a name="l00144"></a>00144 <span class="comment"> * Changes the color to all the vertices in each triangle of the set.</span>
<a name="l00145"></a>00145 <span class="comment"> */</span>
<a name="l00146"></a>00146 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColor(<span class="keyword">const</span> <a class="code" href="structmrpt_1_1utils_1_1_t_colorf.html" title="A RGB color - floats in the range [0,1].">mrpt::utils::TColorf</a> &c);<span class="comment"></span>
<a name="l00147"></a>00147 <span class="comment"> /**</span>
<a name="l00148"></a>00148 <span class="comment"> * Changes the red color component to all the vertices in each triangle of the set.</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColorR(<span class="keyword">const</span> <span class="keywordtype">double</span> r);<span class="comment"></span>
<a name="l00151"></a>00151 <span class="comment"> /**</span>
<a name="l00152"></a>00152 <span class="comment"> * Changes the green color component to all the vertices in each triangle of the set.</span>
<a name="l00153"></a>00153 <span class="comment"> */</span>
<a name="l00154"></a>00154 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColorG(<span class="keyword">const</span> <span class="keywordtype">double</span> g);<span class="comment"></span>
<a name="l00155"></a>00155 <span class="comment"> /**</span>
<a name="l00156"></a>00156 <span class="comment"> * Changes the blue color component to all the vertices in each triangle of the set.</span>
<a name="l00157"></a>00157 <span class="comment"> */</span>
<a name="l00158"></a>00158 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColorB(<span class="keyword">const</span> <span class="keywordtype">double</span> b);<span class="comment"></span>
<a name="l00159"></a>00159 <span class="comment"> /**</span>
<a name="l00160"></a>00160 <span class="comment"> * Changes the alpha color component to all the vertices in each triangle of the set.</span>
<a name="l00161"></a>00161 <span class="comment"> */</span>
<a name="l00162"></a>00162 <span class="keyword">virtual</span> <span class="keywordtype">void</span> setColorA(<span class="keyword">const</span> <span class="keywordtype">double</span> a);
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Render</span>
<a name="l00165"></a>00165 <span class="comment"> */</span>
<a name="l00166"></a>00166 <span class="keywordtype">void</span> render() <span class="keyword">const</span>;<span class="comment"></span>
<a name="l00167"></a>00167 <span class="comment"> /** Ray tracing</span>
<a name="l00168"></a>00168 <span class="comment"> */</span>
<a name="l00169"></a>00169 <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code" href="namespacemrpt_1_1math.html#a363e00600f9c000dd774e6c721faba7d" title="Fast ray tracing method using polygons&#39; properties.">traceRay</a>(<span class="keyword">const</span> <a class="code" href="classmrpt_1_1poses_1_1_c_pose3_d.html" title="A class used to store a 3D pose.">mrpt::poses::CPose3D</a> &o,<span class="keywordtype">double</span> &dist) <span class="keyword">const</span>;
<a name="l00170"></a>00170 <span class="comment"></span>
<a name="l00171"></a>00171 <span class="comment"> /**</span>
<a name="l00172"></a>00172 <span class="comment"> * Gets the polygon cache. </span>
<a name="l00173"></a>00173 <span class="comment"> * \sa insertTriangles</span>
<a name="l00174"></a>00174 <span class="comment"> */</span>
<a name="l00175"></a>00175 <span class="keywordtype">void</span> getPolygons(std::vector<mrpt::math::TPolygon3D> &polys) <span class="keyword">const</span>;
<a name="l00176"></a>00176 <span class="comment"></span>
<a name="l00177"></a>00177 <span class="comment"> /**</span>
<a name="l00178"></a>00178 <span class="comment"> * Inserts a set of triangles, given in a container of either TTriangle's or TPolygon3D</span>
<a name="l00179"></a>00179 <span class="comment"> * \sa insertTriangle</span>
<a name="l00180"></a>00180 <span class="comment"> */</span>
<a name="l00181"></a>00181 <span class="keyword">template</span><<span class="keyword">class</span> CONTAINER>
<a name="l00182"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a1006ace6e7f7fb368b12e1b37a8a3ef2">00182</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a1006ace6e7f7fb368b12e1b37a8a3ef2" title="Inserts a set of triangles, given in a container of either TTriangle&#39;s or TPolygon3D...">insertTriangles</a>(<span class="keyword">const</span> CONTAINER &c) {
<a name="l00183"></a>00183 this->insertTriangles(c.begin(),c.end());
<a name="l00184"></a>00184 }
<a name="l00185"></a>00185 <span class="comment"></span>
<a name="l00186"></a>00186 <span class="comment"> /**</span>
<a name="l00187"></a>00187 <span class="comment"> * Gets the beginning iterator to this object.</span>
<a name="l00188"></a>00188 <span class="comment"> */</span>
<a name="l00189"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a08fc47fc608b49e8be19cf9fd7b7908a">00189</a> <span class="keyword">inline</span> const_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a08fc47fc608b49e8be19cf9fd7b7908a" title="Gets the beginning iterator to this object.">begin</a>()<span class="keyword"> const </span>{
<a name="l00190"></a>00190 <span class="keywordflow">return</span> m_triangles.begin();
<a name="l00191"></a>00191 }<span class="comment"></span>
<a name="l00192"></a>00192 <span class="comment"> /**</span>
<a name="l00193"></a>00193 <span class="comment"> * Gets the ending iterator to this object.</span>
<a name="l00194"></a>00194 <span class="comment"> */</span>
<a name="l00195"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a0dc5dc6ea61813de7fd5edaec658daab">00195</a> <span class="keyword">inline</span> const_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a0dc5dc6ea61813de7fd5edaec658daab" title="Gets the ending iterator to this object.">end</a>()<span class="keyword"> const </span>{
<a name="l00196"></a>00196 <span class="keywordflow">return</span> m_triangles.end();
<a name="l00197"></a>00197 }<span class="comment"></span>
<a name="l00198"></a>00198 <span class="comment"> /**</span>
<a name="l00199"></a>00199 <span class="comment"> * Gets the reverse beginning iterator to this object, which points to the last triangle.</span>
<a name="l00200"></a>00200 <span class="comment"> */</span>
<a name="l00201"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#ae79df3fd7e8d26a0a42877fe8dfcd70f">00201</a> <span class="keyword">inline</span> const_reverse_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#ae79df3fd7e8d26a0a42877fe8dfcd70f" title="Gets the reverse beginning iterator to this object, which points to the last triangle...">rbegin</a>()<span class="keyword"> const </span>{
<a name="l00202"></a>00202 <span class="keywordflow">return</span> m_triangles.rbegin();
<a name="l00203"></a>00203 }<span class="comment"></span>
<a name="l00204"></a>00204 <span class="comment"> /**</span>
<a name="l00205"></a>00205 <span class="comment"> * Gets the reverse ending iterator to this object, which points to the beginning of the actual set.</span>
<a name="l00206"></a>00206 <span class="comment"> */</span>
<a name="l00207"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a774aea5bd32ea76f7f1670470a5415c2">00207</a> <span class="keyword">inline</span> const_reverse_iterator <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a774aea5bd32ea76f7f1670470a5415c2" title="Gets the reverse ending iterator to this object, which points to the beginning of...">rend</a>()<span class="keyword"> const </span>{
<a name="l00208"></a>00208 <span class="keywordflow">return</span> m_triangles.rend();
<a name="l00209"></a>00209 }
<a name="l00210"></a>00210 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00211"></a>00211 <span class="comment"> /** Constructor</span>
<a name="l00212"></a>00212 <span class="comment"> */</span>
<a name="l00213"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a64a382813f8752559a7f4fac94634d86">00213</a> <a class="code" href="namespacemrpt_1_1opengl.html#a130edb59ca91662cd473518d426d75ce">CSetOfTriangles</a>( <span class="keywordtype">bool</span> enableTransparency = <span class="keyword">false</span> ) :
<a name="l00214"></a>00214 m_triangles(),
<a name="l00215"></a>00215 m_enableTransparency(enableTransparency),
<a name="l00216"></a>00216 polygonsUpToDate(false)
<a name="l00217"></a>00217 {
<a name="l00218"></a>00218 }
<a name="l00219"></a>00219 <span class="comment"></span>
<a name="l00220"></a>00220 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00221"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a49bb9da2edb04d8d9d8d5ae7e03fd64d">00221</a> <span class="keyword">virtual</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_triangles.html#a49bb9da2edb04d8d9d8d5ae7e03fd64d" title="Private, virtual destructor: only can be deleted from smart pointers.">~CSetOfTriangles</a>() { }
<a name="l00222"></a>00222 };<span class="comment"></span>
<a name="l00223"></a>00223 <span class="comment"> /** Inserts a set of triangles into the list; note that this method allows to pass another CSetOfTriangles as argument. Allows call chaining.</span>
<a name="l00224"></a>00224 <span class="comment"> * \sa mrpt::opengl::CSetOfTriangles::insertTriangle</span>
<a name="l00225"></a>00225 <span class="comment"> */</span>
<a name="l00226"></a><a class="code" href="namespacemrpt_1_1opengl.html#a01a8b9c533719c7f70c66f598b110167">00226</a> <span class="keyword">template</span><<span class="keyword">class</span> T> <span class="keyword">inline</span> CSetOfTrianglesPtr &<a class="code" href="namespacemrpt_1_1opengl.html#a12e49154ca3af8dcb06d847404a0d4ea" title="Inserts an openGL object into a scene.">operator<<</a>(CSetOfTrianglesPtr &s,<span class="keyword">const</span> T &t) {
<a name="l00227"></a>00227 s->insertTriangles(t.begin(),t.end());
<a name="l00228"></a>00228 <span class="keywordflow">return</span> s;
<a name="l00229"></a>00229 }<span class="comment"></span>
<a name="l00230"></a>00230 <span class="comment"> /** Inserts a triangle into the list. Allows call chaining.</span>
<a name="l00231"></a>00231 <span class="comment"> * \sa mrpt::opengl::CSetOfTriangles::insertTriangle</span>
<a name="l00232"></a>00232 <span class="comment"> */</span>
<a name="l00233"></a><a class="code" href="namespacemrpt_1_1opengl.html#ad15b8971660eb39af18f7243744bb6ae">00233</a> <span class="keyword">template</span><> <span class="keyword">inline</span> CSetOfTrianglesPtr &<a class="code" href="namespacemrpt_1_1opengl.html#a12e49154ca3af8dcb06d847404a0d4ea" title="Inserts an openGL object into a scene.">operator<<</a>(CSetOfTrianglesPtr &s,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_triangles_1_1_t_triangle.html" title="Triangle definition.">CSetOfTriangles::TTriangle</a> &t) {
<a name="l00234"></a>00234 s->insertTriangle(t);
<a name="l00235"></a>00235 <span class="keywordflow">return</span> s;
<a name="l00236"></a>00236 }
<a name="l00237"></a>00237
<a name="l00238"></a>00238 } <span class="comment">// end namespace</span>
<a name="l00239"></a>00239
<a name="l00240"></a>00240 } <span class="comment">// End of namespace</span>
<a name="l00241"></a>00241
<a name="l00242"></a>00242
<a name="l00243"></a>00243 <span class="preprocessor">#endif</span>
</pre></div></div>
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