Struct CVisualObject::State

Nested Relationships

This struct is a nested type of Class CVisualObject.

Struct Documentation

struct State

Public Members

std::string name
bool show_name = false
mrpt::img::TColor color = {0xff, 0xff, 0xff, 0xff}

RGBA components in the range [0,255]

float materialShininess = 0.2f
float materialSpecularExponent = 16.0f

Specular exponent for Blinn-Phong lighting (higher = sharper highlight). Typical values: 8 (rough), 32 (default, plastic), 128 (metal/mirror).

mrpt::img::TColorf materialEmissive = {0, 0, 0, 0}

Emissive color: light emitted by the object regardless of scene lighting. Default is black (no emission). Useful for displays, indicator lights, laser beams, etc.

mrpt::poses::CPose3D pose

SE(3) pose wrt the parent coordinate reference. This class automatically holds the cached 3x3 rotation matrix for quick load into opengl stack.

float scale_x = 1.0f

Scale components to apply to the object (default=1)

float scale_y = 1.0f
float scale_z = 1.0f
bool visible = true

Is the object visible? (default=true)

bool castShadows = true
mrpt::math::TPoint3Df representativePoint = {0, 0, 0}