#include <VisualObject.h>

Inheritance diagram for mvsim::VisualObject:

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Collaboration diagram for mvsim::VisualObject:

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

	VisualObject (const VisualObject &)=delete

VisualObject &	operator= (const VisualObject &)=delete

	VisualObject (VisualObject &&)=delete

VisualObject &	operator= (VisualObject &&)=delete

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	customVisualVisible (const bool visible)

bool	customVisualVisible () const

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

void	showCollisionShape (bool show)

Static Public Member Functions
static void	FreeOpenGLResources ()

Static Public Attributes
static double	GeometryEpsilon

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

bool	parseVisual (const JointXMLnode<> &rootNode)

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

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, const std::optional< double > &scaleOverride=std::nullopt)

void	setCollisionShape (const Shape2p5 &cs)

Protected Attributes
World *	world_

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

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

int32_t	glCustomVisualId_ = -1

const bool	insertCustomVizIntoViz_ = true

const bool	insertCustomVizIntoPhysical_ = true

Detailed Description

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

Member Function Documentation

◆ collisionShape()

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

inline

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

◆ guiUpdate()

virtual void mvsim::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.

Member Data Documentation

◆ GeometryEpsilon

double mvsim::VisualObject::GeometryEpsilon

static

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

◆ glCustomVisual_

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

protected

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

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

/home/docs/checkouts/readthedocs.org/user_builds/mvsimulator/checkouts/stable/modules/simulator/include/mvsim/VisualObject.h

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions