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<div class="title">CSetOfTexturedTriangles.h</div> </div>
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<a href="_c_set_of_textured_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://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_CSetOfTexturedTriangles_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_CSetOfTexturedTriangles_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_textured_object_8h.html">mrpt/opengl/CTexturedObject.h</a>></span>
<a name="l00032"></a>00032
<a name="l00033"></a>00033 <span class="keyword">namespace </span>mrpt
<a name="l00034"></a>00034 {
<a name="l00035"></a>00035 <span class="keyword">namespace </span>utils { <span class="keyword">class </span><a class="code" href="namespacemrpt_1_1utils.html#a4aa6d0388c837d159ca801e48d601449">CStream</a>; }
<a name="l00036"></a>00036
<a name="l00037"></a>00037 <span class="keyword">namespace </span>opengl
<a name="l00038"></a>00038 {
<a name="l00039"></a>00039 <span class="keyword">using</span> mrpt<a class="code" href="namespacemrpt_1_1utils.html#a4aa6d0388c837d159ca801e48d601449">::utils::CStream</a>;
<a name="l00040"></a>00040
<a name="l00041"></a><a class="code" href="namespacemrpt_1_1opengl.html#a8f0de1491a2e414953c81e3d51e2ab6c">00041</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_textured_triangles.html" title="A set of textured triangles.">CSetOfTexturedTriangles</a>;
<a name="l00042"></a>00042
<a name="l00043"></a>00043 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00044"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_ptr.html#a71f4af3bb94a67cb6cfbd7e2de9694c0">00044</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_set_of_textured_triangles.html" title="A set of textured triangles.">CSetOfTexturedTriangles</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_textured_object.html" title="A base class for all OpenGL objects with loadable textures.">CTexturedObject</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00045"></a>00045
<a name="l00046"></a>00046 <span class="comment">/** A set of textured triangles.</span>
<a name="l00047"></a>00047 <span class="comment"> * This class can be used to draw any solid, arbitrarily complex object with textures.</span>
<a name="l00048"></a>00048 <span class="comment"> * \sa opengl::COpenGLScene</span>
<a name="l00049"></a>00049 <span class="comment"> * \ingroup mrpt_opengl_grp</span>
<a name="l00050"></a>00050 <span class="comment"> */</span>
<a name="l00051"></a>00051 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_textured_triangles.html" title="A set of textured triangles.">CSetOfTexturedTriangles</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_textured_object.html" title="A base class for all OpenGL objects with loadable textures.">CTexturedObject</a>
<a name="l00052"></a>00052 {
<a name="l00053"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ad3375db355d62a9fe72d602da577e6dc">00053</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_set_of_textured_triangles.html" title="A set of textured triangles.">CSetOfTexturedTriangles</a> )
<a name="l00054"></a>00054
<a name="l00055"></a>00055 public:<span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment"> /** Triangle vertex. This structure encapsulates the vertex coordinates and the image pixels.</span>
<a name="l00057"></a>00057 <span class="comment"> */</span>
<a name="l00058"></a>00058 struct <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_textured_triangles_1_1_t_vertex.html" title="Triangle vertex.">TVertex</a>
<a name="l00059"></a>00059 {<span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment"> /** Default constructor. */</span>
<a name="l00061"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#afd43546fbbde1f2d3ce0b5194ff03e7a">00061</a> TVertex( ) :
<a name="l00062"></a>00062 m_x(0.0), m_y(0.0), m_z(0.0), m_u(0), m_v(0) { }<span class="comment"></span>
<a name="l00063"></a>00063 <span class="comment"> /** Constructor. */</span>
<a name="l00064"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a74cc8c4469a866a21577fa92aea844ec">00064</a> TVertex(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> <a class="code" href="namespace_eigen_1_1internal.html#a3d7a581aeb951248dc6fe114e9e05f07">y</a>, <span class="keywordtype">float</span> z, uint32_t u, uint32_t v) :
<a name="l00065"></a>00065 m_x(x), m_y(y), m_z(z), m_u(u), m_v(v) { }<span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment"> /** 3D vertex coordinates. */</span>
<a name="l00067"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a8ab8de8ab07c17d1c65af1db60ef8c06">00067</a> <span class="keywordtype">float</span> m_x, m_y, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a8ab8de8ab07c17d1c65af1db60ef8c06">m_z</a>;<span class="comment"></span>
<a name="l00068"></a>00068 <span class="comment"> /** 2D texture coordinates. Notice that the texture coordinates are 2D pixels!!! */</span>
<a name="l00069"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a622b962628c54af62d209b72e9ceb73a">00069</a> uint32_t m_u, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a622b962628c54af62d209b72e9ceb73a">m_v</a>;
<a name="l00070"></a>00070
<a name="l00071"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a0aa2495e5350615541fe0b19e52fabc4">00071</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a0aa2495e5350615541fe0b19e52fabc4">writeToStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out)<span class="keyword"> const </span>{ out << m_x << m_y << m_z << m_u << m_v; }
<a name="l00072"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a88aca1f193d0abe097b803491b12b0b8">00072</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html#a88aca1f193d0abe097b803491b12b0b8">readFromStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &in) { in >> m_x >> m_y >> m_z >> m_u >> m_v; }
<a name="l00073"></a>00073 };
<a name="l00074"></a>00074 <span class="comment"></span>
<a name="l00075"></a>00075 <span class="comment"> /** Triangle. This structure encapsulates the triangle vertices.</span>
<a name="l00076"></a>00076 <span class="comment"> */</span>
<a name="l00077"></a>00077 <span class="keyword">struct </span><a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> TTriangle
<a name="l00078"></a>00078 {<span class="comment"></span>
<a name="l00079"></a>00079 <span class="comment"> /** Default constructor. */</span>
<a name="l00080"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#a37e5c659deecb3298b4dc5e9122d3c88">00080</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html" title="Triangle.">TTriangle</a>( ) :
<a name="l00081"></a>00081 m_v1(), m_v2(), m_v3() { }<span class="comment"></span>
<a name="l00082"></a>00082 <span class="comment"> /** Constructor. */</span>
<a name="l00083"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#a0496a024abf48bf542066f54f66c1e2e">00083</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html" title="Triangle.">TTriangle</a>(<a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html" title="Triangle vertex.">TVertex</a> v1, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html" title="Triangle vertex.">TVertex</a> v2, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html" title="Triangle vertex.">TVertex</a> v3) :
<a name="l00084"></a>00084 m_v1(v1), m_v2(v2), m_v3(v3) { }<span class="comment"></span>
<a name="l00085"></a>00085 <span class="comment"> /** Vertices. */</span>
<a name="l00086"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#afbb497615baed11d40f0752d02b2be27">00086</a> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_vertex.html" title="Triangle vertex.">TVertex</a> m_v1, m_v2, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#afbb497615baed11d40f0752d02b2be27">m_v3</a>;
<a name="l00087"></a>00087
<a name="l00088"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#aaedce02a7a4703b98a5240f3d9f2231c">00088</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#aaedce02a7a4703b98a5240f3d9f2231c">writeToStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &out)<span class="keyword"> const </span>{ m_v1.writeToStream(out); m_v2.writeToStream(out); m_v3.writeToStream(out); }
<a name="l00089"></a><a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#a89666f2182abae4b10649c592f9386b7">00089</a> <span class="keywordtype">void</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html#a89666f2182abae4b10649c592f9386b7">readFromStream</a>(<a class="code" href="classmrpt_1_1utils_1_1_c_stream.html" title="This base class is used to provide a unified interface to files,memory buffers,..Please see the deriv...">CStream</a> &in) { m_v1.readFromStream(in); m_v2.readFromStream(in); m_v3.readFromStream(in); }
<a name="l00090"></a>00090 };
<a name="l00091"></a>00091
<a name="l00092"></a>00092 <span class="keyword">protected</span>:<span class="comment"></span>
<a name="l00093"></a>00093 <span class="comment"> /** Triangle array. */</span>
<a name="l00094"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#af6b205aa67eea01ea95fe30c0992409e">00094</a> std<a class="code" href="classstd_1_1vector.html">::vector<TTriangle></a> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#af6b205aa67eea01ea95fe30c0992409e" title="Triangle array.">m_triangles</a>;
<a name="l00095"></a>00095 <span class="comment"></span>
<a name="l00096"></a>00096 <span class="comment"> /** Render */</span>
<a name="l00097"></a>00097 <span class="keywordtype">void</span> render_texturedobj( ) <span class="keyword">const</span>;
<a name="l00098"></a>00098
<a name="l00099"></a>00099 <span class="keyword">public</span>:
<a name="l00100"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ae30b9017e2b61072abddf266e061dddc">00100</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ae30b9017e2b61072abddf266e061dddc">clearTriangles</a>( ) { m_triangles.clear(); <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00101"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ae32d42eabcf89ff9adc671a5146ee9bd">00101</a> <span class="keywordtype">size_t</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ae32d42eabcf89ff9adc671a5146ee9bd">getTrianglesCount</a>( )<span class="keyword"> const </span>{ <span class="keywordflow">return</span> m_triangles.size(); }
<a name="l00102"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#a2bcb7e977c51f9fabcf6c74a65f1c3ba">00102</a> <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html" title="Triangle.">TTriangle</a> & <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#a2bcb7e977c51f9fabcf6c74a65f1c3ba">getTriangle</a>( <span class="keywordtype">size_t</span> idx)<span class="keyword"> const </span>{ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(idx<m_triangles.size()); <span class="keywordflow">return</span> m_triangles[idx]; }
<a name="l00103"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#a1ed34434e01ffd56c48bad98ad2b6288">00103</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#a1ed34434e01ffd56c48bad98ad2b6288">getTriangle</a>( <span class="keywordtype">size_t</span> idx, <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html" title="Triangle.">TTriangle</a> &<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a> )<span class="keyword"> const </span>{ <a class="code" href="mrpt__macros_8h.html#a47eb5a445c2bf3d9190396510ea9683e">ASSERT_</a>(idx<m_triangles.size()); t = m_triangles[idx]; <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00104"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ac093b020cdae7d1b2e66fd0c42bd8946">00104</a> <span class="keywordtype">void</span> <a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#ac093b020cdae7d1b2e66fd0c42bd8946">insertTriangle</a>( <span class="keyword">const</span> <a class="code" href="structmrpt_1_1opengl_1_1_c_set_of_textured_triangles_1_1_t_triangle.html" title="Triangle.">TTriangle</a> &<a class="code" href="eigen__plugins_8h.html#a7b88b312dc3827120dbfc60da344625d" title="Transpose.">t</a> ) { m_triangles.push_back(t); <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html#a77f8b97d7f4937b3f0777b76bc0ddf7a" title="Must be called to notify that the object has changed (so, the display list must be updated)...">CRenderizableDisplayList::notifyChange</a>(); }
<a name="l00105"></a>00105
<a name="l00106"></a>00106 <span class="comment"></span>
<a name="l00107"></a>00107 <span class="comment"> /** Ray Trace</span>
<a name="l00108"></a>00108 <span class="comment"> */</span>
<a name="l00109"></a>00109 <span class="keyword">virtual</span> <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="l00110"></a>00110
<a name="l00111"></a>00111 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00112"></a>00112 <span class="comment"> /** Constructor</span>
<a name="l00113"></a>00113 <span class="comment"> */</span>
<a name="l00114"></a><a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html#a1bb0b658464539bbda51a65c9e7019db">00114</a> <a class="code" href="namespacemrpt_1_1opengl.html#a8f0de1491a2e414953c81e3d51e2ab6c">CSetOfTexturedTriangles</a>( ) : m_triangles()
<a name="l00115"></a>00115 { }
<a name="l00116"></a>00116 <span class="comment"></span>
<a name="l00117"></a>00117 <span class="comment"> /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00118"></a>00118 <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1opengl_1_1_c_set_of_textured_triangles.html" title="A set of textured triangles.">CSetOfTexturedTriangles</a>();
<a name="l00119"></a>00119 };
<a name="l00120"></a>00120
<a name="l00121"></a>00121 } <span class="comment">// end namespace</span>
<a name="l00122"></a>00122
<a name="l00123"></a>00123 } <span class="comment">// End of namespace</span>
<a name="l00124"></a>00124
<a name="l00125"></a>00125 <span class="preprocessor">#endif</span>
</pre></div></div>
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