#include <VisualObject.h>

Inheritance diagram for mvsim::VisualObject:

[legend]

Public Member Functions
const std::optional< Shape2p5 > &	collisionShape () const

bool	customVisualVisible () const

void	customVisualVisible (const bool visible)

virtual void	guiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical)

World *	parent ()

const World *	parent () const

void	showCollisionShape (bool show)

	VisualObject (World *parent, bool insertCustomVizIntoViz=true, bool insertCustomVizIntoPhysical=true)

virtual	~VisualObject ()

Static Public Member Functions
static void	FreeOpenGLResources ()

Static Public Attributes
static double	GeometryEpsilon = 1e-3

Protected Member Functions
void	addCustomVisualization (const mrpt::opengl::CRenderizable::Ptr &glModel, const mrpt::poses::CPose3D &modelPose={}, const float modelScale=1.0f, const std::string &modelName="group", const std::optional< std::string > &modelURI=std::nullopt, const bool initialShowBoundingBox=false)

virtual void	internalGuiUpdate (const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &viz, const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &physical, bool childrenOnly=false)=0

bool	parseVisual (const JointXMLnode<> &rootNode)

bool	parseVisual (const rapidxml::xml_node< char > &rootNode)
	Returns true if there is at least one `<visual>...</visual>` entry. More...

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCollision_

std::shared_ptr< mrpt::opengl::CSetOfObjects >	glCustomVisual_

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoPhysical_ = true

const bool	insertCustomVizIntoViz_ = true

World *	world_

Private Member Functions
bool	implParseVisual (const rapidxml::xml_node< char > &visual_node)
	Called by parseVisual once per "visual" block. More...

Private Attributes
std::optional< Shape2p5 >	collisionShape_

Detailed Description

Virtual base class for any entity that can be shown in the 3D viewer (or sent out to RViz)

Definition at line 35 of file VisualObject.h.

Constructor & Destructor Documentation

◆ VisualObject()

VisualObject::VisualObject	(	World *	parent,
		bool	insertCustomVizIntoViz = `true`,
		bool	insertCustomVizIntoPhysical = `true`
	)

Definition at line 32 of file VisualObject.cpp.

◆ ~VisualObject()

VisualObject::~VisualObject ( )

virtualdefault

Member Function Documentation

◆ addCustomVisualization()

void VisualObject::addCustomVisualization	(	const mrpt::opengl::CRenderizable::Ptr &	glModel,
		const mrpt::poses::CPose3D &	modelPose = `{}`,
		const float	modelScale = `1.0f`,
		const std::string &	modelName = `"group"`,
		const std::optional< std::string > &	modelURI = `std::nullopt`,
		const bool	initialShowBoundingBox = `false`
	)

protected

Definition at line 262 of file VisualObject.cpp.

◆ collisionShape()

const std::optional<Shape2p5>& mvsim::VisualObject::collisionShape ( ) const

inline

Returns the collision shape, if defined (should be for regular entities after correct initialization).

Definition at line 59 of file VisualObject.h.

◆ customVisualVisible() [1/2]

bool VisualObject::customVisualVisible ( ) const

Definition at line 257 of file VisualObject.cpp.

◆ customVisualVisible() [2/2]

void VisualObject::customVisualVisible ( const bool visible )

Definition at line 250 of file VisualObject.cpp.

◆ FreeOpenGLResources()

void VisualObject::FreeOpenGLResources ( )

static

Definition at line 153 of file VisualObject.cpp.

◆ guiUpdate()

void VisualObject::guiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical
	)

virtual

This creates a new object in the scene and/or update it according to the current state of the object. If none of the scenes are passed, the poses of existing visual objects are updated, but no new ones are created.

Definition at line 44 of file VisualObject.cpp.

◆ implParseVisual()

bool VisualObject::implParseVisual ( const rapidxml::xml_node< char > & visual_node )

private

Called by parseVisual once per "visual" block.

Definition at line 185 of file VisualObject.cpp.

◆ internalGuiUpdate()

virtual void mvsim::VisualObject::internalGuiUpdate	(	const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	viz,
		const mrpt::optional_ref< mrpt::opengl::COpenGLScene > &	physical,
		bool	childrenOnly = `false`
	)

protectedpure virtual

Implemented in mvsim::VehicleBase, mvsim::Block, mvsim::Wheel, mvsim::DepthCameraSensor, mvsim::LaserScanner, mvsim::OccupancyGridMap, mvsim::Lidar3D, mvsim::PointCloud, mvsim::CameraSensor, mvsim::ElevationMap, mvsim::HorizontalPlane, mvsim::VerticalPlane, mvsim::SkyBox, and mvsim::GroundGrid.

◆ parent() [1/2]

World* mvsim::VisualObject::parent ( )

inline

Definition at line 51 of file VisualObject.h.

◆ parent() [2/2]

const World* mvsim::VisualObject::parent ( ) const

inline

Definition at line 52 of file VisualObject.h.

◆ parseVisual() [1/2]

bool VisualObject::parseVisual ( const JointXMLnode<> & rootNode )

protected

Definition at line 170 of file VisualObject.cpp.

◆ parseVisual() [2/2]

bool VisualObject::parseVisual ( const rapidxml::xml_node< char > & rootNode )

protected

Returns true if there is at least one <visual>...</visual> entry.

Definition at line 155 of file VisualObject.cpp.

◆ setCollisionShape()

void mvsim::VisualObject::setCollisionShape ( const Shape2p5 & cs )

inlineprotected

Definition at line 95 of file VisualObject.h.

◆ showCollisionShape()

void VisualObject::showCollisionShape ( bool show )

Definition at line 244 of file VisualObject.cpp.

Member Data Documentation

◆ collisionShape_

std::optional<Shape2p5> mvsim::VisualObject::collisionShape_

private

Definition at line 98 of file VisualObject.h.

◆ GeometryEpsilon

double VisualObject::GeometryEpsilon = 1e-3

static

Epsilon for geometry checks related to bounding boxes (default:1e-3)

Definition at line 66 of file VisualObject.h.

◆ glCollision_

std::shared_ptr<mrpt::opengl::CSetOfObjects> mvsim::VisualObject::glCollision_

protected

Definition at line 78 of file VisualObject.h.

◆ glCustomVisual_

std::shared_ptr<mrpt::opengl::CSetOfObjects> mvsim::VisualObject::glCustomVisual_

protected

If not empty, will override the derived-class visualization for this object.

Definition at line 77 of file VisualObject.h.

◆ glCustomVisualId_

int32_t mvsim::VisualObject::glCustomVisualId_ = -1

protected

Definition at line 79 of file VisualObject.h.

◆ insertCustomVizIntoPhysical_

const bool mvsim::VisualObject::insertCustomVizIntoPhysical_ = true

protected

Definition at line 82 of file VisualObject.h.

◆ insertCustomVizIntoViz_

const bool mvsim::VisualObject::insertCustomVizIntoViz_ = true

protected

Definition at line 81 of file VisualObject.h.

◆ world_

World* mvsim::VisualObject::world_

protected

Definition at line 73 of file VisualObject.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

◆ VisualObject()

◆ ~VisualObject()

Member Function Documentation

◆ addCustomVisualization()

◆ collisionShape()

◆ customVisualVisible() [1/2]

◆ customVisualVisible() [2/2]

◆ FreeOpenGLResources()

◆ guiUpdate()

◆ implParseVisual()

◆ internalGuiUpdate()

◆ parent() [1/2]

◆ parent() [2/2]

◆ parseVisual() [1/2]

◆ parseVisual() [2/2]

◆ setCollisionShape()

◆ showCollisionShape()

Member Data Documentation

◆ collisionShape_

◆ GeometryEpsilon

◆ glCollision_

◆ glCustomVisual_

◆ glCustomVisualId_

◆ insertCustomVizIntoPhysical_

◆ insertCustomVizIntoViz_

◆ world_