Class CBox

• Defined in File CBox.h

Inheritance Relationships

Base Types

• public mrpt::viz::CVisualObject (Class CVisualObject)

• public mrpt::viz::VisualObjectParams_Lines (Class VisualObjectParams_Lines)

• public mrpt::viz::VisualObjectParams_Triangles (Class VisualObjectParams_Triangles)

Class Documentation

class CBox : public virtual mrpt::viz::CVisualObject, public virtual mrpt::viz::VisualObjectParams_Lines, public virtual mrpt::viz::VisualObjectParams_Triangles

A solid or wireframe box in 3D, defined by 6 rectangular faces parallel to the planes X, Y and Z (note that the object can be translated and rotated afterwards as any other CVisualObject object using the “object pose” in the base class).

Three drawing modes are possible:

• Wireframe: setWireframe(true). Used color is the CVisualObject color

• Solid box: setWireframe(false). Used color is the CVisualObject color

• Solid box with border: setWireframe(false) + enableBoxBorder(true). Solid color is the CVisualObject color, border line can be set with setBoxBorderColor().

See also

mrpt::viz::Scene, mrpt::viz::CVisualObject

Geometry Configuration

void setBoxCorners(const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2)

Set the position and size of the box, from two corners in 3D

inline void getBoxCorners(mrpt::math::TPoint3D &corner1, mrpt::math::TPoint3D &corner2) const

Get the current box corners

inline const mrpt::math::TPoint3D &getCornerMin() const

Returns the minimum corner

inline const mrpt::math::TPoint3D &getCornerMax() const

Returns the maximum corner

Rendering Style

inline void setWireframe(bool is_wireframe = true)

Sets wireframe rendering mode (true) or solid mode (false, default)

inline bool isWireframe() const

Returns true if wireframe mode is enabled

inline void enableBoxBorder(bool drawBorder = true)

Enable/disable drawing a border around solid boxes

inline bool isBoxBorderEnabled() const

Returns true if box border is enabled

inline void setBoxBorderColor(const mrpt::img::TColor &c)

Set the color of the box border lines

inline mrpt::img::TColor getBoxBorderColor() const

Get the color of the box border lines

CVisualObject Interface

virtual mrpt::math::TBoundingBoxf internalBoundingBoxLocal() const override

Must be implemented by derived classes to provide the updated bounding box in the object local frame of coordinates. This will be called only once after each time the derived class reports to notifyChange() that the object geometry changed.

See also

getBoundingBox(), getBoundingBoxLocal(), getBoundingBoxLocalf()

virtual bool traceRay(const mrpt::poses::CPose3D &o, double &dist) const override

Ray tracing.

See also

mrpt::viz::CVisualObject

virtual void updateBuffers() const override

Updates the internal geometry buffers for rendering.

This is called automatically by the rendering system when hasToUpdateBuffers() returns true (i.e., after notifyChange() was called).

Public Functions

CBox() = default

Basic empty constructor. Set all parameters to default.

CBox(const mrpt::math::TPoint3D &corner1, const mrpt::math::TPoint3D &corner2, bool is_wireframe = false, float lineWidth = 1.0)

Constructor with all the parameters

~CBox() override = default

Destructor

Protected Attributes

mrpt::math::TPoint3D m_corner_min = {-1, -1, -1}

Corners coordinates

mrpt::math::TPoint3D m_corner_max = {1, 1, 1}

bool m_wireframe = false

true: wireframe, false (default): solid

bool m_draw_border = true

Draw line borders to solid box (default: true)

mrpt::img::TColor m_solidborder_color = {0, 0, 0}

Color of the solid box borders.