<!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.01 Transitional//EN">
<html><head><meta http-equiv="Content-Type" content="text/html;charset=iso-8859-1">
<title>COpenGLScene.h Source File</title>
<link href="doxygen.css" rel="stylesheet" type="text/css">
<link href="tabs.css" rel="stylesheet" type="text/css">
</head><body>
<div align="left"><a href="http://www.mrpt.org/">Main MRPT website</a> > <b>C++ reference</b> </div>
<div align="right">
<a href="index.html"><img border="0" src="mrpt_logo.png" alt="MRPT logo"></a>
</div>
<!-- Generated by Doxygen 1.7.5 -->
<script type="text/javascript">
var searchBox = new SearchBox("searchBox", "search",false,'Search');
</script>
<div id="navrow1" class="tabs">
<ul class="tablist">
<li><a href="index.html"><span>Main Page</span></a></li>
<li><a href="pages.html"><span>Related Pages</span></a></li>
<li><a href="modules.html"><span>Modules</span></a></li>
<li><a href="namespaces.html"><span>Namespaces</span></a></li>
<li><a href="annotated.html"><span>Classes</span></a></li>
<li class="current"><a href="files.html"><span>Files</span></a></li>
<li>
<div id="MSearchBox" class="MSearchBoxInactive">
<div class="left">
<form id="FSearchBox" action="search.php" method="get">
<img id="MSearchSelect" src="search/mag.png" alt=""/>
<input type="text" id="MSearchField" name="query" value="Search" size="20" accesskey="S"
onfocus="searchBox.OnSearchFieldFocus(true)"
onblur="searchBox.OnSearchFieldFocus(false)"/>
</form>
</div><div class="right"></div>
</div>
</li>
</ul>
</div>
<div id="navrow2" class="tabs2">
<ul class="tablist">
<li><a href="files.html"><span>File List</span></a></li>
<li><a href="globals.html"><span>File Members</span></a></li>
</ul>
</div>
<div class="header">
<div class="headertitle">
<div class="title">COpenGLScene.h</div> </div>
</div>
<div class="contents">
<a href="_c_open_g_l_scene_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://www.mrpt.org/ |</span>
<a name="l00005"></a>00005 <span class="comment"> | |</span>
<a name="l00006"></a>00006 <span class="comment"> | Copyright (C) 2005-2011 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_COpenGLScene_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_COpenGLScene_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="_c_open_g_l_viewport_8h.html">mrpt/opengl/COpenGLViewport.h</a>></span>
<a name="l00033"></a>00033
<a name="l00034"></a>00034 <span class="keyword">namespace </span>mrpt
<a name="l00035"></a>00035 {<span class="comment"></span>
<a name="l00036"></a>00036 <span class="comment"> /** The namespace for 3D scene representation and rendering. See also the <a href="mrpt-opengl.html" > summary page</a> of the mrpt-opengl library for more info and thumbnails of many of the render primitive.</span>
<a name="l00037"></a>00037 <span class="comment"> */</span>
<a name="l00038"></a>00038 <span class="keyword">namespace </span>opengl
<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><a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html#a75b24363a66e97dc689cb6f279dc1a3f">00041</a> <a class="code" href="_c_serializable_8h.html#a9ef523d787f6cb837a0585b790882588" title="This declaration must be inserted in all CSerializable classes definition, before the class declarati...">DEFINE_SERIALIZABLE_PRE_CUSTOM_BASE_LINKAGE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a>, <a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">mrpt::utils::CSerializable</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
<a name="l00044"></a>00044 <span class="comment">/** This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives.</span>
<a name="l00045"></a>00045 <span class="comment"> * The class can be understood as a program to be run over OpenGL, containing a sequence of viewport definitions,</span>
<a name="l00046"></a>00046 <span class="comment"> * rendering primitives, etc...</span>
<a name="l00047"></a>00047 <span class="comment"> *</span>
<a name="l00048"></a>00048 <span class="comment"> * It can contain from 1 up to any number of <b>Viewports</b>, each one</span>
<a name="l00049"></a>00049 <span class="comment"> * associated a set of OpenGL objects and, optionally, a preferred camera position. Both orthogonal (2D/3D) and projection</span>
<a name="l00050"></a>00050 <span class="comment"> * camera models can be used for each viewport independently, greatly increasing the possibilities of rendered scenes.</span>
<a name="l00051"></a>00051 <span class="comment"> *</span>
<a name="l00052"></a>00052 <span class="comment"> * An object of COpenGLScene always contains at least one viewport (utils::COpenGLViewport), named "main". Optionally, any</span>
<a name="l00053"></a>00053 <span class="comment"> * number of other viewports may exist. Viewports are referenced by their names, case-sensitive strings. Each viewport contains</span>
<a name="l00054"></a>00054 <span class="comment"> * a different 3D scene (i.e. they render different objects), though a mechanism exist to share the same 3D scene by a number of</span>
<a name="l00055"></a>00055 <span class="comment"> * viewports so memory is not wasted replicating the same objects (see COpenGLViewport::setCloneView ).</span>
<a name="l00056"></a>00056 <span class="comment"> *</span>
<a name="l00057"></a>00057 <span class="comment"> * The main rendering method, COpenGLScene::render(), assumes a viewport has been set-up for the entire target window. That</span>
<a name="l00058"></a>00058 <span class="comment"> * method will internally make the required calls to opengl for creating the additional viewports. Note that only the depth</span>
<a name="l00059"></a>00059 <span class="comment"> * buffer is cleared by default for each (non-main) viewport, to allow transparencies. This can be disabled by the approppriate</span>
<a name="l00060"></a>00060 <span class="comment"> * member in COpenGLViewport.</span>
<a name="l00061"></a>00061 <span class="comment"> *</span>
<a name="l00062"></a>00062 <span class="comment"> * An object COpenGLScene can be saved to a ".3Dscene" file using CFileOutputStream, for posterior visualization from</span>
<a name="l00063"></a>00063 <span class="comment"> * the standalone application <a href="http://www.mrpt.org/Application:SceneViewer" >SceneViewer</a>.</span>
<a name="l00064"></a>00064 <span class="comment"> * It can be also displayed in real-time using gui::CDisplayWindow3D.</span>
<a name="l00065"></a>00065 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00066"></a>00066 <span class="comment"> */</span>
<a name="l00067"></a>00067 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_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a> : public mrpt::utils::<a class="code" href="classmrpt_1_1utils_1_1_c_serializable.html" title="The virtual base class which provides a unified interface for all persistent objects in MRPT...">CSerializable</a>
<a name="l00068"></a>00068 {
<a name="l00069"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a48b4ab9eee6759a32bf96b194de555a0">00069</a> <a class="code" href="_c_serializable_8h.html#a72ab55bf7ae009c89b75715cfa21e84d" title="This declaration must be inserted in all CSerializable classes definition, within the class declarati...">DEFINE_SERIALIZABLE</a>( <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a> )
<a name="l00070"></a>00070 public:<span class="comment"></span>
<a name="l00071"></a>00071 <span class="comment"> /** Constructor</span>
<a name="l00072"></a>00072 <span class="comment"> */</span>
<a name="l00073"></a>00073 <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html" title="This class allows the user to create, load, save, and render 3D scenes using OpenGL primitives...">COpenGLScene</a>();
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Destructor:</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 virtual ~COpenGLScene();
<a name="l00078"></a>00078 <span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Copy operator:</span>
<a name="l00080"></a>00080 <span class="comment"> */</span>
<a name="l00081"></a>00081 COpenGLScene & operator =( const COpenGLScene &obj );
<a name="l00082"></a>00082 <span class="comment"></span>
<a name="l00083"></a>00083 <span class="comment"> /** Copy constructor:</span>
<a name="l00084"></a>00084 <span class="comment"> */</span>
<a name="l00085"></a>00085 COpenGLScene( const COpenGLScene &obj );
<a name="l00086"></a>00086 <span class="comment"></span>
<a name="l00087"></a>00087 <span class="comment"> /**</span>
<a name="l00088"></a>00088 <span class="comment"> * Inserts a set of objects into the scene, in the given viewport ("main" by default). Any iterable object will be accepted.</span>
<a name="l00089"></a>00089 <span class="comment"> * \sa createViewport,getViewport</span>
<a name="l00090"></a>00090 <span class="comment"> */</span>
<a name="l00091"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a918a3ae921f3e713c622a5a1a91e384a">00091</a> template<class T> inline <span class="keywordtype">void</span> insertCollection(const T &objs,const std::<span class="keywordtype">string</span> &vpn=std::<span class="keywordtype">string</span>("main")) {
<a name="l00092"></a>00092 insert(objs.begin(),objs.end(),vpn);
<a name="l00093"></a>00093 }<span class="comment"></span>
<a name="l00094"></a>00094 <span class="comment"> /** Insert a new object into the scene, in the given viewport (by default, into the "main" viewport).</span>
<a name="l00095"></a>00095 <span class="comment"> * The viewport must be created previously, an exception will be raised if the given name does not correspond to</span>
<a name="l00096"></a>00096 <span class="comment"> * an existing viewport.</span>
<a name="l00097"></a>00097 <span class="comment"> * \sa createViewport, getViewport</span>
<a name="l00098"></a>00098 <span class="comment"> */</span>
<a name="l00099"></a>00099 <span class="keywordtype">void</span> insert( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &newObject, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &viewportName=<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"main"</span>));
<a name="l00100"></a>00100 <span class="comment"></span>
<a name="l00101"></a>00101 <span class="comment"> /**</span>
<a name="l00102"></a>00102 <span class="comment"> * Inserts a set of objects into the scene, in the given viewport ("main" by default).</span>
<a name="l00103"></a>00103 <span class="comment"> * \sa createViewport,getViewport</span>
<a name="l00104"></a>00104 <span class="comment"> */</span>
<a name="l00105"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a804a69b03026df45a46413967ea85ead">00105</a> <span class="keyword">template</span><<span class="keyword">class</span> T_it> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a804a69b03026df45a46413967ea85ead" title="Inserts a set of objects into the scene, in the given viewport ("main" by default).">insert</a>(<span class="keyword">const</span> T_it &<a class="code" href="eigen__plugins_8h.html#ab295fd8164bf1b1acecbcb29520d62b7">begin</a>,<span class="keyword">const</span> T_it &<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>,<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &vpn=<a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"main"</span>)) {
<a name="l00106"></a>00106 <span class="keywordflow">for</span> (T_it it=begin;it!=<a class="code" href="eigen__plugins_8h.html#ade5b39864c905cbb824d0ff6eb0d888c">end</a>;it++) insert(*it,vpn);
<a name="l00107"></a>00107 }
<a name="l00108"></a>00108 <span class="comment"></span>
<a name="l00109"></a>00109 <span class="comment"> /**Creates a new viewport, adding it to the scene and returning a pointer to the new object.</span>
<a name="l00110"></a>00110 <span class="comment"> * Names (case-sensitive) cannot be duplicated: if the name provided coincides with an already existing viewport, a pointer to the existing object will be returned.</span>
<a name="l00111"></a>00111 <span class="comment"> * The first, default viewport, is named "main".</span>
<a name="l00112"></a>00112 <span class="comment"> */</span>
<a name="l00113"></a>00113 <a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_viewport_ptr.html">COpenGLViewportPtr</a> createViewport( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &viewportName );
<a name="l00114"></a>00114 <span class="comment"></span>
<a name="l00115"></a>00115 <span class="comment"> /** Returns the viewport with the given name, or NULL if it does not exist</span>
<a name="l00116"></a>00116 <span class="comment"> */</span>
<a name="l00117"></a>00117 <a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_viewport_ptr.html">COpenGLViewportPtr</a> getViewport( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &viewportName ) <span class="keyword">const</span>;
<a name="l00118"></a>00118 <span class="comment"></span>
<a name="l00119"></a>00119 <span class="comment"> /** Render this scene.</span>
<a name="l00120"></a>00120 <span class="comment"> */</span>
<a name="l00121"></a>00121 <span class="keywordtype">void</span> render() <span class="keyword">const</span>;
<a name="l00122"></a>00122
<a name="l00123"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#adcfa3ce6d4d07c4d4ffd7afd95214baf">00123</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#adcfa3ce6d4d07c4d4ffd7afd95214baf">viewportsCount</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_viewports.size(); }
<a name="l00124"></a>00124 <span class="comment"></span>
<a name="l00125"></a>00125 <span class="comment"> /** Clear the list of objects and viewports in the scene, deleting objects' memory, and leaving just the default viewport with the default values.</span>
<a name="l00126"></a>00126 <span class="comment"> */</span>
<a name="l00127"></a>00127 <span class="keywordtype">void</span> clear( <span class="keywordtype">bool</span> createMainViewport = <span class="keyword">true</span> );
<a name="l00128"></a>00128 <span class="comment"></span>
<a name="l00129"></a>00129 <span class="comment"> /** If disabled (default), the SceneViewer application will ignore the camera of the "main" viewport and keep the viewport selected by the user by hand; otherwise, the camera in the "main" viewport prevails.</span>
<a name="l00130"></a>00130 <span class="comment"> * \sa followCamera</span>
<a name="l00131"></a>00131 <span class="comment"> */</span>
<a name="l00132"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#af18cbd0e038b53e46e350a3b92307b00">00132</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#af18cbd0e038b53e46e350a3b92307b00" title="If disabled (default), the SceneViewer application will ignore the camera of the "main" viewport and ...">enableFollowCamera</a>( <span class="keywordtype">bool</span> enabled ) { m_followCamera = enabled; }
<a name="l00133"></a>00133 <span class="comment"></span>
<a name="l00134"></a>00134 <span class="comment"> /** Return the value of "followCamera"</span>
<a name="l00135"></a>00135 <span class="comment"> * \sa enableFollowCamera</span>
<a name="l00136"></a>00136 <span class="comment"> */</span>
<a name="l00137"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a499327ff3ed1c2f0db0e45f09be2fd94">00137</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a499327ff3ed1c2f0db0e45f09be2fd94" title="Return the value of "followCamera".">followCamera</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_followCamera; }
<a name="l00138"></a>00138 <span class="comment"></span>
<a name="l00139"></a>00139 <span class="comment"> /** Returns the first object with a given name, or NULL (an empty smart pointer) if not found.</span>
<a name="l00140"></a>00140 <span class="comment"> */</span>
<a name="l00141"></a>00141 <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> getByName( <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &str, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &viewportName = <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"main"</span>) );
<a name="l00142"></a>00142 <span class="comment"></span>
<a name="l00143"></a>00143 <span class="comment"> /** Returns the i'th object of a given class (or of a descendant class), or NULL (an empty smart pointer) if not found.</span>
<a name="l00144"></a>00144 <span class="comment"> * Example:</span>
<a name="l00145"></a>00145 <span class="comment"> * \code</span>
<a name="l00146"></a>00146 <span class="comment"> CSpherePtr obs = myscene.getByClass<CSphere>();</span>
<a name="l00147"></a>00147 <span class="comment"> * \endcode</span>
<a name="l00148"></a>00148 <span class="comment"> * By default (ith=0), the first observation is returned.</span>
<a name="l00149"></a>00149 <span class="comment"> */</span>
<a name="l00150"></a>00150 <span class="keyword">template</span> <<span class="keyword">typename</span> T>
<a name="l00151"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a51cf5502fa4425de1e5591e355a6ceaa">00151</a> <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html">::SmartPtr</a> getByClass( <span class="keyword">const</span> <span class="keywordtype">size_t</span> &ith = 0 )<span class="keyword"> const</span>
<a name="l00152"></a>00152 <span class="keyword"> </span>{
<a name="l00153"></a>00153 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00154"></a>00154 <span class="keywordflow">for</span> (<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TListViewports::const_iterator</a> it = m_viewports.begin();it!=m_viewports.end();++it)
<a name="l00155"></a>00155 {
<a name="l00156"></a>00156 <span class="keyword">typename</span> T<a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html">::SmartPtr</a> o = (*it)->getByClass<T>(ith);
<a name="l00157"></a>00157 <span class="keywordflow">if</span> (o.present()) <span class="keywordflow">return</span> o;
<a name="l00158"></a>00158 }
<a name="l00159"></a>00159 <span class="keywordflow">return</span> <span class="keyword">typename</span> T::SmartPtr(); <span class="comment">// Not found: return empty smart pointer</span>
<a name="l00160"></a>00160 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00161"></a>00161 }
<a name="l00162"></a>00162
<a name="l00163"></a>00163 <span class="comment"></span>
<a name="l00164"></a>00164 <span class="comment"> /** Removes the given object from the scene (it also deletes the object to free its memory).</span>
<a name="l00165"></a>00165 <span class="comment"> */</span>
<a name="l00166"></a>00166 <span class="keywordtype">void</span> removeObject( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &obj, <span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &viewportName = <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a>(<span class="stringliteral">"main"</span>) );
<a name="l00167"></a>00167 <span class="comment"></span>
<a name="l00168"></a>00168 <span class="comment"> /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)</span>
<a name="l00169"></a>00169 <span class="comment"> */</span>
<a name="l00170"></a>00170 <span class="keywordtype">void</span> initializeAllTextures();
<a name="l00171"></a>00171 <span class="comment"></span>
<a name="l00172"></a>00172 <span class="comment"> /** Retrieves a list of all objects in text form.</span>
<a name="l00173"></a>00173 <span class="comment"> */</span>
<a name="l00174"></a>00174 <span class="keywordtype">void</span> dumpListOfObjects( <a class="code" href="classmrpt_1_1utils_1_1_c_string_list.html" title="A class for storing a list of text lines.">utils::CStringList</a> &lst );
<a name="l00175"></a>00175 <span class="comment"></span>
<a name="l00176"></a>00176 <span class="comment"> /** Saves the scene to a 3Dscene file, loadable by the application SceneViewer3D</span>
<a name="l00177"></a>00177 <span class="comment"> * \sa loadFromFile</span>
<a name="l00178"></a>00178 <span class="comment"> * \return false on any error.</span>
<a name="l00179"></a>00179 <span class="comment"> */</span>
<a name="l00180"></a>00180 <span class="keywordtype">bool</span> saveToFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fil) <span class="keyword">const</span>;
<a name="l00181"></a>00181 <span class="comment"></span>
<a name="l00182"></a>00182 <span class="comment"> /** Loads the scene from a 3Dscene file, the format used by the application SceneViewer3D.</span>
<a name="l00183"></a>00183 <span class="comment"> * \sa saveToFile</span>
<a name="l00184"></a>00184 <span class="comment"> * \return false on any error.</span>
<a name="l00185"></a>00185 <span class="comment"> */</span>
<a name="l00186"></a>00186 <span class="keywordtype">bool</span> loadFromFile(<span class="keyword">const</span> <a class="code" href="classstd_1_1string.html" title="STL class.">std::string</a> &fil);
<a name="l00187"></a>00187 <span class="comment"></span>
<a name="l00188"></a>00188 <span class="comment"> /** Traces a ray</span>
<a name="l00189"></a>00189 <span class="comment"> */</span>
<a name="l00190"></a>00190 <span class="keywordtype">bool</span> <a class="code" href="group__geometry__grp.html#ga363e00600f9c000dd774e6c721faba7d" title="Fast ray tracing method using polygons' 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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a>&o,<span class="keywordtype">double</span> &dist) <span class="keyword">const</span>;
<a name="l00191"></a>00191
<a name="l00192"></a>00192 <span class="comment"></span>
<a name="l00193"></a>00193 <span class="comment"> /** Recursive depth-first visit all objects in all viewports of the scene, calling the user-supplied function</span>
<a name="l00194"></a>00194 <span class="comment"> * The passed function must accept only one argument of type "const mrpt::opengl::CRenderizablePtr &"</span>
<a name="l00195"></a>00195 <span class="comment"> */</span>
<a name="l00196"></a>00196 <span class="keyword">template</span> <<span class="keyword">typename</span> FUNCTOR>
<a name="l00197"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#ac0bf8147e3339b923b058ad5c5b2ffc2">00197</a> <span class="keywordtype">void</span> visitAllObjects( FUNCTOR functor)<span class="keyword"> const</span>
<a name="l00198"></a>00198 <span class="keyword"> </span>{
<a name="l00199"></a>00199 <a class="code" href="mrpt__macros_8h.html#a45b840af519f33816311acdbb28d7c10">MRPT_START</a>
<a name="l00200"></a>00200 <span class="keywordflow">for</span> (<a class="code" href="eigen__plugins_8h.html#a8dbda719917732693c56cee228465ed9">TListViewports::const_iterator</a> it = m_viewports.begin();it!=m_viewports.end();++it)
<a name="l00201"></a>00201 <span class="keywordflow">for</span> (<a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_viewport.html#af2dc8f8851c33bb1ebe42e32b671c7d1">COpenGLViewport::const_iterator</a> itO = (*it)->begin();itO!=(*it)->end();++itO)
<a name="l00202"></a>00202 internal_visitAllObjects(functor, *itO);
<a name="l00203"></a>00203 <a class="code" href="mrpt__macros_8h.html#a88a917260793b56abd83ad2a0d849eb1">MRPT_END</a>
<a name="l00204"></a>00204 }
<a name="l00205"></a>00205 <span class="comment"></span>
<a name="l00206"></a>00206 <span class="comment"> /** Recursive depth-first visit all objects in all viewports of the scene, calling the user-supplied function</span>
<a name="l00207"></a>00207 <span class="comment"> * The passed function must accept a first argument of type "const mrpt::opengl::CRenderizablePtr &"</span>
<a name="l00208"></a>00208 <span class="comment"> * and a second one of type EXTRA_PARAM</span>
<a name="l00209"></a>00209 <span class="comment"> */</span>
<a name="l00210"></a>00210 <span class="keyword">template</span> <<span class="keyword">typename</span> FUNCTOR,<span class="keyword">typename</span> EXTRA_PARAM>
<a name="l00211"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a4344298ca692f0182d0f4fbee3b772db">00211</a> <span class="keyword">inline</span> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a4344298ca692f0182d0f4fbee3b772db" title="Recursive depth-first visit all objects in all viewports of the scene, calling the user-supplied func...">visitAllObjects</a>( FUNCTOR functor, <span class="keyword">const</span> EXTRA_PARAM &userParam)<span class="keyword"> const </span>{
<a name="l00212"></a>00212 visitAllObjects( std::bind2nd(functor,userParam) );
<a name="l00213"></a>00213 }
<a name="l00214"></a>00214
<a name="l00215"></a>00215 <span class="keyword">protected</span>:
<a name="l00216"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a60c760e84c40bd2a94a03a266c25ae8e">00216</a> <span class="keywordtype">bool</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a60c760e84c40bd2a94a03a266c25ae8e">m_followCamera</a>;
<a name="l00217"></a>00217
<a name="l00218"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a0ffb40365f31320349e432c74c05aa52">00218</a> <span class="keyword">typedef</span> std<a class="code" href="classstd_1_1vector.html">::vector<COpenGLViewportPtr></a> <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a0ffb40365f31320349e432c74c05aa52">TListViewports</a>;
<a name="l00219"></a>00219
<a name="l00220"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#af19e790fa06ff73b7c80ba4ebcd5ca2c">00220</a> TListViewports <a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#af19e790fa06ff73b7c80ba4ebcd5ca2c" title="The list of viewports, indexed by name.">m_viewports</a>; <span class="comment">//!< The list of viewports, indexed by name.</span>
<a name="l00221"></a>00221 <span class="comment"></span>
<a name="l00222"></a>00222
<a name="l00223"></a>00223 <span class="keyword">template</span> <<span class="keyword">typename</span> FUNCTOR>
<a name="l00224"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_open_g_l_scene.html#a1bf009bc3ad692dfed82de5fa5ca83b1">00224</a> <span class="keyword">static</span> <span class="keywordtype">void</span> internal_visitAllObjects(FUNCTOR functor, <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &o)
<a name="l00225"></a>00225 {
<a name="l00226"></a>00226 functor(o);
<a name="l00227"></a>00227 <span class="keywordflow">if</span> (<a class="code" href="_c_object_8h.html#a794ea7da2e1f7eb092d140ca5091e982" title="Evaluates to true if the given pointer to an object (derived from mrpt::utils::CSerializable) is of t...">IS_CLASS</a>(o,<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html" title="A set of object, which are referenced to the coordinates framework established in this object...">CSetOfObjects</a>))
<a name="l00228"></a>00228 {
<a name="l00229"></a>00229 <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a> obj = <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_objects_ptr.html">CSetOfObjectsPtr</a>(o);
<a name="l00230"></a>00230 <span class="keywordflow">for</span> (<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_objects.html#a8bf52bbf2e58078e7340d6b1e686d39c">CSetOfObjects::const_iterator</a> it=obj->begin();it!=obj->end();++it)
<a name="l00231"></a>00231 internal_visitAllObjects(functor,*it);
<a name="l00232"></a>00232 }
<a name="l00233"></a>00233 }
<a name="l00234"></a>00234
<a name="l00235"></a>00235 };<span class="comment"></span>
<a name="l00236"></a>00236 <span class="comment"> /**</span>
<a name="l00237"></a>00237 <span class="comment"> * Inserts an openGL object into a scene. Allows call chaining.</span>
<a name="l00238"></a>00238 <span class="comment"> * \sa mrpt::opengl::COpenGLScene::insert</span>
<a name="l00239"></a>00239 <span class="comment"> */</span>
<a name="l00240"></a><a class="code" href="namespacemrpt_1_1opengl.html#a12e49154ca3af8dcb06d847404a0d4ea">00240</a> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html">COpenGLScenePtr</a> &<a class="code" href="namespacemrpt_1_1opengl.html#a12e49154ca3af8dcb06d847404a0d4ea" title="Inserts an openGL object into a scene.">operator<<</a>(<a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html">COpenGLScenePtr</a> &s,<span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_renderizable_ptr.html">CRenderizablePtr</a> &r) {
<a name="l00241"></a>00241 s->insert(r);
<a name="l00242"></a>00242 <span class="keywordflow">return</span> s;
<a name="l00243"></a>00243 }<span class="comment"></span>
<a name="l00244"></a>00244 <span class="comment"> /**</span>
<a name="l00245"></a>00245 <span class="comment"> * Inserts any iterable collection of openGL objects into a scene, allowing call chaining.</span>
<a name="l00246"></a>00246 <span class="comment"> * \sa mrpt::opengl::COpenGLScene::insert</span>
<a name="l00247"></a>00247 <span class="comment"> */</span>
<a name="l00248"></a><a class="code" href="namespacemrpt_1_1opengl.html#a927bd0267fb9a4c5e86c5c60a78f3a13">00248</a> <span class="keyword">template</span> <<span class="keyword">class</span> T> <span class="keyword">inline</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_open_g_l_scene_ptr.html">COpenGLScenePtr</a> &operator<<(COpenGLScenePtr &s,const std::vector<T> &v) {
<a name="l00249"></a>00249 s->insert(v.begin(),v.end());
<a name="l00250"></a>00250 <span class="keywordflow">return</span> s;
<a name="l00251"></a>00251 }
<a name="l00252"></a>00252 } <span class="comment">// end namespace</span>
<a name="l00253"></a>00253
<a name="l00254"></a>00254 } <span class="comment">// End of namespace</span>
<a name="l00255"></a>00255
<a name="l00256"></a>00256
<a name="l00257"></a>00257 <span class="preprocessor">#endif</span>
</pre></div></div>
</div>
<br><hr><br> <table border="0" width="100%"> <tr> <td> Page generated by <a href="http://www.doxygen.org" target="_blank">Doxygen 1.7.5</a> for MRPT 0.9.5 SVN: at Sun Sep 25 17:20:18 UTC 2011</td><td></td> <td width="100"> </td> <td width="150"> </td></tr> </table> </body></html>
