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<a href="_c3_d_s_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  &lt;jlblanco@ctima.uma.es&gt;                     |</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 &lt;http://www.gnu.org/licenses/&gt;.         |</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_C3DSScene_H</span>
<a name="l00029"></a>00029 <span class="preprocessor"></span><span class="preprocessor">#define opengl_C3DSScene_H</span>
<a name="l00030"></a>00030 <span class="preprocessor"></span>
<a name="l00031"></a>00031 <span class="preprocessor">#include &lt;<a class="code" href="_c_renderizable_display_list_8h.html">mrpt/opengl/CRenderizableDisplayList.h</a>&gt;</span>
<a name="l00032"></a>00032 <span class="preprocessor">#include &lt;<a class="code" href="_c_open_g_l_scene_8h.html">mrpt/opengl/COpenGLScene.h</a>&gt;</span>
<a name="l00033"></a>00033 <span class="preprocessor">#include &lt;<a class="code" href="_c_memory_chunk_8h.html">mrpt/utils/CMemoryChunk.h</a>&gt;</span>
<a name="l00034"></a>00034 
<a name="l00035"></a>00035 <span class="keyword">namespace </span>mrpt
<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><a class="code" href="namespacemrpt_1_1opengl.html#a32a522b3feadb792d43c061a95add792">00039</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_c3_d_s_scene.html" title="This element keeps a set of objects imported from a 3DStudio file (.3ds).">C3DSScene</a>;
<a name="l00040"></a>00040 
<a name="l00041"></a>00041                 <span class="comment">// This must be added to any CSerializable derived class:</span>
<a name="l00042"></a><a class="code" href="structmrpt_1_1opengl_1_1_c3_d_s_scene_ptr.html#ab4cf8daa688de21a09b1c918bc52a2f7">00042</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_c3_d_s_scene.html" title="This element keeps a set of objects imported from a 3DStudio file (.3ds).">C3DSScene</a>, <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL&#39;s display lists.">CRenderizableDisplayList</a>, <a class="code" href="opengl_2include_2mrpt_2opengl_2link__pragmas_8h.html#af6a1c8d5d6b3c8c0af00dbeef88ce269">OPENGL_IMPEXP</a> )
<a name="l00043"></a>00043 
<a name="l00044"></a>00044                 <span class="comment">/** This element keeps a set of objects imported from a 3DStudio file (.3ds).</span>
<a name="l00045"></a>00045 <span class="comment">                  *  This class uses the opensource library &lt;a href=&quot;http://lib3ds.sourceforge.net/&quot; &gt;lib3ds&lt;/a&gt; internally.</span>
<a name="l00046"></a>00046 <span class="comment">                  *  \sa opengl::COpenGLScene</span>
<a name="l00047"></a>00047 <span class="comment">                  * \ingroup mrpt_opengl_grp</span>
<a name="l00048"></a>00048 <span class="comment">                  */</span>
<a name="l00049"></a>00049                 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_c3_d_s_scene.html" title="This element keeps a set of objects imported from a 3DStudio file (.3ds).">C3DSScene</a> : public <a class="code" href="classmrpt_1_1opengl_1_1_c_renderizable_display_list.html" title="A renderizable object suitable for rendering with OpenGL&#39;s display lists.">CRenderizableDisplayList</a>
<a name="l00050"></a>00050                 {
<a name="l00051"></a><a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a2f72aea60f09202682ab27e89e34069f">00051</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_c3_d_s_scene.html" title="This element keeps a set of objects imported from a 3DStudio file (.3ds).">C3DSScene</a> )
<a name="l00052"></a>00052 
<a name="l00053"></a>00053 
<a name="l00054"></a>00054                 public:
<a name="l00055"></a>00055 <span class="comment"></span>
<a name="l00056"></a>00056 <span class="comment">                        /** Render child objects.</span>
<a name="l00057"></a>00057 <span class="comment">                          */</span>
<a name="l00058"></a>00058                         <span class="keywordtype">void</span>  render_dl() const;
<a name="l00059"></a>00059 <span class="comment"></span>
<a name="l00060"></a>00060 <span class="comment">                        /**  Loads a scene from a 3DS file (3D Studio format) into this object, from either plain .3ds format, or in gzip compressed .3ds.gz format.</span>
<a name="l00061"></a>00061 <span class="comment">                          *    Previous contents are lost.</span>
<a name="l00062"></a>00062 <span class="comment">                          *    If the file ends in &quot;.gz&quot;, it&#39;ll be automatically decompressed using gzip (see mrpt::compress::zip).</span>
<a name="l00063"></a>00063 <span class="comment">                          */</span>
<a name="l00064"></a>00064                         <span class="keywordtype">void</span> loadFrom3DSFile( const std::<span class="keywordtype">string</span> &amp;file_name );
<a name="l00065"></a>00065 <span class="comment"></span>
<a name="l00066"></a>00066 <span class="comment">                        /** Initializes all textures in the scene (See opengl::CTexturedPlane::loadTextureInOpenGL)</span>
<a name="l00067"></a>00067 <span class="comment">                          */</span>
<a name="l00068"></a>00068                         <span class="keywordtype">void</span>  initializeAllTextures();
<a name="l00069"></a>00069 <span class="comment"></span>
<a name="l00070"></a>00070 <span class="comment">                        /** Empty the object */</span>
<a name="l00071"></a>00071                         <span class="keywordtype">void</span>   clear();
<a name="l00072"></a>00072 <span class="comment"></span>
<a name="l00073"></a>00073 <span class="comment">                        /** Evaluates the scene at a given animation time</span>
<a name="l00074"></a>00074 <span class="comment">                          */</span>
<a name="l00075"></a>00075                         <span class="keywordtype">void</span> evaluateAnimation( <span class="keywordtype">double</span> time_anim );
<a name="l00076"></a>00076 <span class="comment"></span>
<a name="l00077"></a>00077 <span class="comment">                        /** Enables an extra ambient light */</span>
<a name="l00078"></a><a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#ae57c20f16899486ccf990c825e32422e">00078</a>                         <span class="keywordtype">void</span> enableExtraAmbientLight(<span class="keywordtype">bool</span> enable=true) { m_enable_extra_lighting=enable; <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="l00079"></a>00079 
<a name="l00080"></a>00080                         <span class="comment">/* Simulation of ray-trace. */</span>
<a name="l00081"></a>00081                         <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&#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 (a 3D translation + a rotation in 3D).">mrpt::poses::CPose3D</a> &amp;o,<span class="keywordtype">double</span> &amp;dist) <span class="keyword">const</span>;
<a name="l00082"></a>00082 
<a name="l00083"></a>00083                 <span class="keyword">private</span>:<span class="comment"></span>
<a name="l00084"></a>00084 <span class="comment">                        /** Default constructor</span>
<a name="l00085"></a>00085 <span class="comment">                          */</span>
<a name="l00086"></a>00086                         <a class="code" href="namespacemrpt_1_1opengl.html#a32a522b3feadb792d43c061a95add792">C3DSScene</a>( );
<a name="l00087"></a>00087 <span class="comment"></span>
<a name="l00088"></a>00088 <span class="comment">                        /** Private, virtual destructor: only can be deleted from smart pointers */</span>
<a name="l00089"></a>00089                         <span class="keyword">virtual</span> ~<a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html" title="This element keeps a set of objects imported from a 3DStudio file (.3ds).">C3DSScene</a>();
<a name="l00090"></a>00090 <span class="comment"></span>
<a name="l00091"></a>00091 <span class="comment">                        /** A container for automatic deletion of lib3ds&#39;s scene when the last reference of the smart_ptr&#39;s is destroyed.</span>
<a name="l00092"></a>00092 <span class="comment">                          */</span>
<a name="l00093"></a>00093                         <span class="keyword">struct </span>TImpl3DS
<a name="l00094"></a>00094                         {
<a name="l00095"></a>00095                                 TImpl3DS();
<a name="l00096"></a>00096                                 ~TImpl3DS();
<a name="l00097"></a><a class="code" href="structmrpt_1_1opengl_1_1_c3_d_s_scene_1_1_t_impl3_d_s.html#a8a50fa87841bd198d4d5ea686a8b182e">00097</a>                                 <span class="keywordtype">void</span>    *<a class="code" href="structmrpt_1_1opengl_1_1_c3_d_s_scene_1_1_t_impl3_d_s.html#a8a50fa87841bd198d4d5ea686a8b182e" title="Lib3dsFile*.">file</a>;  <span class="comment">//!&lt; Lib3dsFile*</span>
<a name="l00098"></a>00098 <span class="comment"></span>                        };
<a name="l00099"></a>00099 <span class="comment"></span>
<a name="l00100"></a>00100 <span class="comment">                        /** An internal pointer to the lib3ds library&#39;s object of type &quot;Lib3dsFile&quot;</span>
<a name="l00101"></a>00101 <span class="comment">                          */</span>
<a name="l00102"></a><a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a6c559cb571650645ab563bd0e2a1fe28">00102</a>                         stlplus::smart_ptr&lt;TImpl3DS&gt;    <a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a6c559cb571650645ab563bd0e2a1fe28" title="An internal pointer to the lib3ds library&#39;s object of type &quot;Lib3dsFile&quot;.">m_3dsfile</a>;
<a name="l00103"></a>00103 <span class="comment"></span>
<a name="l00104"></a>00104 <span class="comment">                        /** Scale of the object */</span>
<a name="l00105"></a>00105                         <span class="comment">//double        m_scale_x,m_scale_y,m_scale_z;</span>
<a name="l00106"></a>00106 
<a name="l00107"></a><a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a061e93161c6555af3ec8f011bad9467f">00107</a>                         <span class="keywordtype">bool</span>    <a class="code" href="classmrpt_1_1opengl_1_1_c3_d_s_scene.html#a061e93161c6555af3ec8f011bad9467f" title="Scale of the object.">m_enable_extra_lighting</a>;
<a name="l00108"></a>00108 
<a name="l00109"></a>00109                         <span class="comment">//float m_light_cons_attenuation;               //!&lt; OpenGL Light attenuation factor (default=1.0)</span>
<a name="l00110"></a>00110                         <span class="comment">//float m_light_lin_attenuation;                //!&lt; OpenGL Light attenuation factor (default=0.0)</span>
<a name="l00111"></a>00111                         <span class="comment">//float m_light_quad_attenuation;               //!&lt; OpenGL Light attenuation factor (default=0.0)</span>
<a name="l00112"></a>00112                 };
<a name="l00113"></a>00113 
<a name="l00114"></a>00114 
<a name="l00115"></a>00115         } <span class="comment">// end namespace</span>
<a name="l00116"></a>00116 
<a name="l00117"></a>00117 } <span class="comment">// End of namespace</span>
<a name="l00118"></a>00118 
<a name="l00119"></a>00119 
<a name="l00120"></a>00120 <span class="preprocessor">#endif</span>
</pre></div></div>
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