Class CCylinder

Inheritance Relationships

Base Types

Class Documentation

class CCylinder : public virtual mrpt::viz::CVisualObject, public mrpt::viz::VisualObjectParams_Triangles

A cylinder or cone whose base lies in the XY plane.

The cylinder extends along the +Z axis from z=0 to z=height.

  • If baseRadius == topRadius: regular cylinder

  • If baseRadius != topRadius: truncated cone (frustum)

  • If topRadius == 0: cone with apex at the top

  • If baseRadius == 0: inverted cone with apex at the bottom

../../output_staging/generated/doxygen/xml/preview_CCylinder.png

See also

mrpt::viz::Scene, mrpt::viz::CDisk

Geometry Configuration

inline void setRadius(float radius)

Sets both radii to a single value, configuring the object as a cylinder.

See also

setRadii

inline void setRadii(float bottom, float top)

Sets both radii independently.

See also

setRadius

inline void setHeight(float height)

Changes cylinder’s height.

inline float getBottomRadius() const

Gets the bottom radius.

inline float getTopRadius() const

Gets the top radius.

inline float getHeight() const

Gets the cylinder’s height.

inline void setSlicesCount(uint32_t slices)

Number of radial divisions (affects mesh smoothness)

inline uint32_t getSlicesCount() const

Returns the number of radial divisions

Base Caps Configuration

inline void setHasBases(bool top = true, bool bottom = true)

Configuration of the cylinder’s bases display.

Parameters:

  • top – Whether to draw the top cap

  • bottom – Whether to draw the bottom cap

inline bool hasTopBase() const

Check whether top base is displayed.

See also

hasBottomBase

inline bool hasBottomBase() const

Check whether bottom base is displayed.

See also

hasTopBase

CVisualObject Interface

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

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

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 void updateBuffers() const override

Updates the internal triangle buffer for rendering.

Generates the triangulated mesh for the lateral surface and optional top/bottom caps.

Public Functions

CCylinder() = default

Default constructor: unit cylinder

inline CCylinder(float baseRadius, float topRadius, float height = 1.0f, int slices = 20)

Constructor with parameters.

Parameters:

  • baseRadius – Radius at z=0

  • topRadius – Radius at z=height

  • height – Height of the cylinder (along +Z)

  • slices – Number of radial divisions (higher = smoother)

~CCylinder() override = default

Destructor

Protected Attributes

float m_baseRadius = 1.0f

Radius at z=0

float m_topRadius = 1.0f

Radius at z=height

float m_height = 1.0f

Cylinder height

uint32_t m_slices = 20

Number of radial divisions

bool m_hasTopBase = true

Whether to draw the top cap

bool m_hasBottomBase = true

Whether to draw the bottom cap