A camera: if added to a scene, the viewpoint defined by this camera will be used instead of the camera parameters set in COpenGLViewport::m_camera.
A camera can be defined to provide a projective or orthogonal view of the world by setting the member CCamera::m_projectiveModel.
#include <mrpt/opengl/CCamera.h>
Public Member Functions | |
void | setPointingAt (float x, float y, float z) |
template<class POSEORPOINT > | |
void | setPointingAt (const POSEORPOINT &p) |
void | setPointingAt (const mrpt::math::TPoint3D &p) |
float | getPointingAtX () const |
float | getPointingAtY () const |
float | getPointingAtZ () const |
void | setZoomDistance (float z) |
float | getZoomDistance () const |
float | getAzimuthDegrees () const |
float | getElevationDegrees () const |
void | setAzimuthDegrees (float ang) |
void | setElevationDegrees (float ang) |
void | setProjectiveModel (bool v=true) |
Enable/Disable projective mode (vs. orthogonal) | |
void | setOrthogonal (bool v=true) |
Enable/Disable orthogonal mode (vs. projective) | |
void | set6DOFMode (bool v) |
Set 6DOFMode, if enabled camera is set according to its pose (default=false). | |
bool | isProjective () const |
bool | isOrthogonal () const |
bool | is6DOFMode () const |
void | setProjectiveFOVdeg (float ang) |
Field-of-View in degs, only when projectiveModel=true (default=30 deg). | |
float | getProjectiveFOVdeg () const |
Field-of-View in degs, only when projectiveModel=true (default=30 deg). | |
void | render () const MRPT_OVERRIDE |
Render does nothing here. | |
virtual void | getBoundingBox (mrpt::math::TPoint3D &bb_min, mrpt::math::TPoint3D &bb_max) const MRPT_OVERRIDE |
In this class, returns a fixed box (max,max,max), (-max,-max,-max). | |
CRenderizable * | clone () const |
Interface for the stlplus smart pointer class. | |
virtual bool | traceRay (const mrpt::poses::CPose3D &o, double &dist) const |
Simulation of ray-trace, given a pose. | |
Changes the appearance of the object to render | |
void | setName (const std::string &n) |
Changes the name of the object. | |
const std::string & | getName () const |
Returns the name of the object. | |
bool | isVisible () const |
Is the object visible? | |
void | setVisibility (bool visible=true) |
Set object visibility (default=true) | |
void | enableShowName (bool showName=true) |
Enables or disables showing the name of the object as a label when rendering. | |
bool | isShowNameEnabled () const |
CRenderizable & | setPose (const mrpt::poses::CPose3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) | |
CRenderizable & | setPose (const mrpt::math::TPose3D &o) |
Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this) | |
CRenderizable & | setPose (const mrpt::poses::CPoint3D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) | |
CRenderizable & | setPose (const mrpt::poses::CPoint2D &o) |
Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this) | |
mrpt::math::TPose3D | getPose () const |
Returns the 3D pose of the object as TPose3D. | |
const mrpt::poses::CPose3D & | getPoseRef () const |
Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix) | |
CRenderizable & | setLocation (double x, double y, double z) |
Changes the location of the object, keeping untouched the orientation. | |
CRenderizable & | setLocation (const mrpt::math::TPoint3D &p) |
Changes the location of the object, keeping untouched the orientation. | |
double | getPoseX () const |
Translation relative to parent coordinate origin. | |
double | getPoseY () const |
Translation relative to parent coordinate origin. | |
double | getPoseZ () const |
Translation relative to parent coordinate origin. | |
double | getPoseYaw () const |
Rotation relative to parent coordinate origin, in DEGREES. | |
double | getPosePitch () const |
Rotation relative to parent coordinate origin, in DEGREES. | |
double | getPoseRoll () const |
Rotation relative to parent coordinate origin, in DEGREES. | |
double | getPoseYawRad () const |
Rotation relative to parent coordinate origin, in radians. | |
double | getPosePitchRad () const |
Rotation relative to parent coordinate origin, in radians. | |
double | getPoseRollRad () const |
Rotation relative to parent coordinate origin, in radians. | |
double | getColorR () const |
Color components in the range [0,1]. | |
double | getColorG () const |
Color components in the range [0,1]. | |
double | getColorB () const |
Color components in the range [0,1]. | |
double | getColorA () const |
Color components in the range [0,1]. | |
uint8_t | getColorR_u8 () const |
Color components in the range [0,255]. | |
uint8_t | getColorG_u8 () const |
Color components in the range [0,255]. | |
uint8_t | getColorB_u8 () const |
Color components in the range [0,255]. | |
uint8_t | getColorA_u8 () const |
Color components in the range [0,255]. | |
CRenderizable & | setColorR (const double r) |
Color components in the range [0,1]. | |
CRenderizable & | setColorG (const double g) |
Color components in the range [0,1]. | |
CRenderizable & | setColorB (const double b) |
Color components in the range [0,1]. | |
CRenderizable & | setColorA (const double a) |
Color components in the range [0,1]. | |
virtual CRenderizable & | setColorR_u8 (const uint8_t r) |
Color components in the range [0,255]. | |
virtual CRenderizable & | setColorG_u8 (const uint8_t g) |
Color components in the range [0,255]. | |
virtual CRenderizable & | setColorB_u8 (const uint8_t b) |
Color components in the range [0,255]. | |
virtual CRenderizable & | setColorA_u8 (const uint8_t a) |
Color components in the range [0,255]. | |
CRenderizable & | setScale (float s) |
Scale to apply to the object, in all three axes (default=1) | |
CRenderizable & | setScale (float sx, float sy, float sz) |
Scale to apply to the object in each axis (default=1) | |
float | getScaleX () const |
Get the current scaling factor in one axis. | |
float | getScaleY () const |
Get the current scaling factor in one axis. | |
float | getScaleZ () const |
Get the current scaling factor in one axis. | |
mrpt::utils::TColorf | getColor () const |
Returns the object color property as a TColorf. | |
CRenderizable & | setColor (const mrpt::utils::TColorf &c) |
CRenderizable & | setColor (double R, double G, double B, double A=1) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) | |
const mrpt::utils::TColor & | getColor_u8 () const |
Returns the object color property as a TColor. | |
virtual CRenderizable & | setColor_u8 (const mrpt::utils::TColor &c) |
CRenderizable & | setColor_u8 (uint8_t R, uint8_t G, uint8_t B, uint8_t A=255) |
Set the color components of this object (R,G,B,Alpha, in the range 0-1) | |
Static Public Member Functions | |
static void | renderTextBitmap (const char *str, void *fontStyle) |
This method is safe for calling from within render() methods. | |
static void | renderTextBitmap (int screen_x, int screen_y, const std::string &str, float color_r=1, float color_g=1, float color_b=1, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Render a text message in the current rendering context, creating a glViewport in the way (do not call within render() methods) | |
static int | textBitmapWidth (const std::string &str, mrpt::opengl::TOpenGLFont font=mrpt::opengl::MRPT_GLUT_BITMAP_TIMES_ROMAN_24) |
Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap(). | |
Static Public Attributes | |
RTTI stuff <br> | |
static const mrpt::utils::TRuntimeClassId | classCRenderizable |
Protected Member Functions | |
void | writeToStreamRender (utils::CStream &out) const |
void | readFromStreamRender (utils::CStream &in) |
CSerializable virtual methods | |
void | writeToStream (mrpt::utils::CStream &out, int *getVersion) const MRPT_OVERRIDE |
void | readFromStream (mrpt::utils::CStream &in, int version) MRPT_OVERRIDE |
Static Protected Member Functions | |
static void | checkOpenGLError () |
Checks glGetError and throws an exception if an error situation is found. | |
static unsigned int | getNewTextureNumber () |
Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool). | |
static void | releaseTextureName (unsigned int i) |
Protected Attributes | |
float | m_pointingX |
float | m_pointingY |
float | m_pointingZ |
float | m_distanceZoom |
float | m_azimuthDeg |
float | m_elevationDeg |
bool | m_projectiveModel |
If set to true (default), camera model is projective, otherwise, it's orthogonal. | |
float | m_projectiveFOVdeg |
Field-of-View in degs, only when projectiveModel=true (default=30 deg). | |
bool | m_6DOFMode |
If set to true, camera pose is used when rendering the viewport. | |
std::string | m_name |
bool | m_show_name |
mrpt::utils::TColor | m_color |
Color components in the range [0,255]. | |
mrpt::poses::CPose3D | m_pose |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack. | |
float | m_scale_x |
float | m_scale_y |
float | m_scale_z |
Scale components to apply to the object (default=1) | |
bool | m_visible |
Is the object visible? (default=true) | |
Private Member Functions | |
CCamera () | |
Constructor. | |
virtual | ~CCamera () |
Private, virtual destructor: only can be deleted from smart pointers. | |
Friends | |
class | COpenGLViewport |
RTTI stuff <br> | |
typedef CCameraPtr | SmartPtr |
static mrpt::utils::CLASSINIT | _init_CCamera |
static mrpt::utils::TRuntimeClassId | classCCamera |
static const mrpt::utils::TRuntimeClassId * | classinfo |
static const mrpt::utils::TRuntimeClassId * | _GetBaseClass () |
virtual const mrpt::utils::TRuntimeClassId * | GetRuntimeClass () const MRPT_OVERRIDE |
virtual mrpt::utils::CObject * | duplicate () const MRPT_OVERRIDE |
static mrpt::utils::CObject * | CreateObject () |
static CCameraPtr | Create () |
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Constructor.
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Checks glGetError and throws an exception if an error situation is found.
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Interface for the stlplus smart pointer class.
Definition at line 148 of file CRenderizable.h.
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Enables or disables showing the name of the object as a label when rendering.
Definition at line 69 of file CRenderizable.h.
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In this class, returns a fixed box (max,max,max), (-max,-max,-max).
Implements mrpt::opengl::CRenderizable.
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Returns the object color property as a TColorf.
Definition at line 124 of file CRenderizable.h.
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Returns the object color property as a TColor.
Definition at line 133 of file CRenderizable.h.
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Color components in the range [0,1].
Definition at line 100 of file CRenderizable.h.
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Color components in the range [0,255].
Definition at line 105 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 99 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 104 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 98 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,255].
Definition at line 103 of file CRenderizable.h.
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Color components in the range [0,1].
Definition at line 97 of file CRenderizable.h.
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Color components in the range [0,255].
Definition at line 102 of file CRenderizable.h.
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Returns the name of the object.
Definition at line 64 of file CRenderizable.h.
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Returns the lowest next free texture name (avoid using OpenGL's own function since we may call them from different threads and seem it's not cool).
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Returns the 3D pose of the object as TPose3D.
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Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 91 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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Rotation relative to parent coordinate origin, in radians.
Definition at line 94 of file CRenderizable.h.
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Returns a const ref to the 3D pose of the object as mrpt::poses::CPose3D (which explicitly contains the 3x3 rotation matrix)
Definition at line 79 of file CRenderizable.h.
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Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 92 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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Rotation relative to parent coordinate origin, in radians.
Definition at line 95 of file CRenderizable.h.
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Translation relative to parent coordinate origin.
Definition at line 87 of file CRenderizable.h.
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Translation relative to parent coordinate origin.
Definition at line 88 of file CRenderizable.h.
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Rotation relative to parent coordinate origin, in DEGREES.
Definition at line 90 of file CRenderizable.h.
References mrpt::utils::RAD2DEG().
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Rotation relative to parent coordinate origin, in radians.
Definition at line 93 of file CRenderizable.h.
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Translation relative to parent coordinate origin.
Definition at line 89 of file CRenderizable.h.
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Reimplemented from mrpt::opengl::CRenderizable.
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Get the current scaling factor in one axis.
Definition at line 119 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 120 of file CRenderizable.h.
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inlineinherited |
Get the current scaling factor in one axis.
Definition at line 121 of file CRenderizable.h.
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Definition at line 70 of file CRenderizable.h.
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Render does nothing here.
Implements mrpt::opengl::CRenderizable.
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This method is safe for calling from within render() methods.
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Render a text message in the current rendering context, creating a glViewport in the way (do not call within render() methods)
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c | Changes the default object color |
Definition at line 125 of file CRenderizable.h.
References mrpt::utils::TColorf::A, mrpt::utils::TColorf::B, mrpt::utils::TColorf::G, and mrpt::utils::TColorf::R.
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Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 131 of file CRenderizable.h.
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Reimplemented in mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.
Referenced by mrpt::opengl::CRenderizableDisplayList::setColor_u8().
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Set the color components of this object (R,G,B,Alpha, in the range 0-1)
Definition at line 138 of file CRenderizable.h.
References mrpt::opengl::CRenderizable::setColor_u8().
Referenced by mrpt::opengl::CRenderizable::setColor_u8().
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Color components in the range [0,1].
Definition at line 110 of file CRenderizable.h.
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Color components in the range [0,255].
Reimplemented in mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.
Definition at line 115 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 109 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.
Definition at line 114 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 108 of file CRenderizable.h.
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inlinevirtualinherited |
Color components in the range [0,255].
Reimplemented in mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.
Definition at line 113 of file CRenderizable.h.
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inlineinherited |
Color components in the range [0,1].
Definition at line 107 of file CRenderizable.h.
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Color components in the range [0,255].
Reimplemented in mrpt::opengl::CRenderizableDisplayList, mrpt::opengl::CSetOfObjects, and mrpt::opengl::CSetOfTriangles.
Definition at line 112 of file CRenderizable.h.
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Changes the location of the object, keeping untouched the orientation.
Definition at line 85 of file CRenderizable.h.
References mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
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Changes the location of the object, keeping untouched the orientation.
Definition at line 82 of file CRenderizable.h.
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Changes the name of the object.
Definition at line 63 of file CRenderizable.h.
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inline |
Definition at line 57 of file CCamera.h.
References setPointingAt(), mrpt::math::TPoint3D::x, mrpt::math::TPoint3D::y, and mrpt::math::TPoint3D::z.
Referenced by setPointingAt().
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Set the 3D pose from a mrpt::math::TPose3D object (return a ref to this)
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Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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Set the 3D pose from a mrpt::poses::CPose3D object (return a ref to this)
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inline |
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Scale to apply to the object, in all three axes (default=1)
Definition at line 117 of file CRenderizable.h.
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Scale to apply to the object in each axis (default=1)
Definition at line 118 of file CRenderizable.h.
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Set object visibility (default=true)
Definition at line 67 of file CRenderizable.h.
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Return the exact width in pixels for a given string, as will be rendered by renderTextBitmap().
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Simulation of ray-trace, given a pose.
Returns true if the ray effectively collisions with the object (returning the distance to the origin of the ray in "dist"), or false in other case. "dist" variable yields undefined behaviour when false is returned
Reimplemented in mrpt::opengl::CAngularObservationMesh, mrpt::opengl::C3DSScene, mrpt::opengl::CAssimpModel, mrpt::opengl::CBox, mrpt::opengl::CCylinder, mrpt::opengl::CDisk, mrpt::opengl::CEllipsoid, mrpt::opengl::CFrustum, mrpt::opengl::CGeneralizedCylinder, mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 2 >, mrpt::opengl::CGeneralizedEllipsoidTemplate< 3 >, mrpt::opengl::CMesh, mrpt::opengl::COpenGLStandardObject, mrpt::opengl::CPolyhedron, mrpt::opengl::CSetOfObjects, mrpt::opengl::CSetOfTexturedTriangles, mrpt::opengl::CSetOfTriangles, mrpt::opengl::CSphere, and mrpt::opengl::CTexturedPlane.
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Definition at line 46 of file CRenderizable.h.
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Color components in the range [0,255].
Definition at line 54 of file CRenderizable.h.
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protectedinherited |
Definition at line 52 of file CRenderizable.h.
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protectedinherited |
6D pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.
Definition at line 55 of file CRenderizable.h.
Referenced by mrpt::opengl::CGeneralizedEllipsoidTemplate< DIM >::render_dl().
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Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Scale components to apply to the object (default=1)
Definition at line 56 of file CRenderizable.h.
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protectedinherited |
Definition at line 53 of file CRenderizable.h.
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Is the object visible? (default=true)
Definition at line 57 of file CRenderizable.h.
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