frustum: a polyhedron of which each torso face is a trapezoid and the top and bottom surfaces are polygons. More...

#include <gr_parametric_frustum.h>

Inheritance diagram for kjb::Frustum:

Public Member Functions
	Frustum (unsigned int inv, double ix, double iy, double iz, double iw, double il, double iratio_top_bottom, double ih, double ipitch, double iyaw, double iroll)
	Constructs a frustum. More...

	Frustum (const std::vector< kjb::Vector > &p) throw (kjb::Illegal_argument)
	Constructs a. More...

	Frustum (const Frustum &p)
	Constructs a frustum by copying another. More...

	Frustum (const char *fname, unsigned int inv) throw (kjb::Illegal_argument, kjb::IO_error)
	Reads a frustum from an input file. More...

	Frustum (std::istream &in, unsigned int inv) throw (kjb::Illegal_argument, kjb::IO_error)
	Reads a frustum from an input stream. More...

virtual	~Frustum ()
	Deletes this frustum. More...

virtual Frustum &	operator= (const Frustum &p)
	Copies a frustum into this one. More...

virtual Frustum *	clone () const
	Clones this frustum. More...

virtual void	transform (const kjb::Matrix &M) throw (kjb::Illegal_argument)
	Transforms this frustum. More...

const kjb::Vector &	get_point (size_t i) const throw (kjb::Illegal_argument)
	Returns an indexed point defining this Frustum. More...

const kjb::Vector &	get_center () const
	Returns the center vector for this frustum. More...

virtual void	add_face (const Polygon &face) throw (kjb::Illegal_argument)
	Adds a face to this Frustum -> Not implemented here, it will throw an exception, because the use of this method will violate the constraints defining this Frustum. More...

virtual void	read (std::istream &in) throw (kjb::IO_error, kjb::Illegal_argument)
	Reads this frustum from an input stream. More...

virtual void	write (std::ostream &out) const throw (kjb::IO_error)
	Writes this frustum to an output stream. More...

void	set_points (unsigned int inv, double ix, double iy, double iz, double iw, double il, double iratio_top_bottom, double ih)
	reset the points of this Frustum More...

virtual unsigned int	adjacent_face (unsigned int f, unsigned int e) const throw (Index_out_of_bounds,KJB_error)
	returns the index of the face adjacent to face f along edge e This is an efficient implementation to be used only in the context of the frustum More...

void	draw_orientation_map () const

Public Member Functions inherited from kjb::Polymesh
	Polymesh ()
	Constructs a triangular mesh. More...

	Polymesh (unsigned int n)

	Polymesh (const char *fname) throw (kjb::Illegal_argument, kjb::IO_error)
	Reads a triangular mesh from an input file. More...

	Polymesh (std::istream &in) throw (kjb::Illegal_argument, kjb::IO_error)
	Reads a triangular mesh from an input file. More...

	Polymesh (const Polymesh &t)
	Copy constructor. More...

virtual Polymesh &	operator= (const Polymesh &t)
	Copies a triangular mesh into this one. More...

virtual	~Polymesh ()
	Deletes this Polymesh. More...

unsigned int	num_faces () const
	Returns the number of faces in this mesh. More...

const std::vector< kjb::Polygon > &	get_faces () const
	Returns the faces of this mesh. More...

const kjb::Polygon &	get_face (unsigned int i) const throw (kjb::Index_out_of_bounds)
	Returns an indexed face. More...

kjb::Polygon &	get_face_ref (unsigned int i) throw (kjb::Index_out_of_bounds)
	Returns an indexed face. More...

virtual void	write (const char *filename) const throw (IO_error)
	Writes this mesh to an output stream. More...

virtual void	translate (double x, double y, double z)
	Translates this rigid object. More...

virtual void	rotate (double phi, double x, double y, double z)

virtual void	rotate (double dpitch, double dyaw, double droll)
	rotate this object around its x-axis by dpitch, the y-axis by dyaw, and its z-axis by droll (in this order, starting from the object's current position) More...

virtual void	scale (double scale_x, double scale_y, double scale_z)

void	get_faces (std::vector< const Polygon * > &ifaces) const

virtual void	wire_render () const
	Renders this mesh as a wire frame. More...

unsigned int	wire_render_with_sequential_ids (unsigned int start_id=1) const
	Render each edge of this polymesh with a different color. The first edge will be rendered using the input id as a color, the following edges will be rendered with an id sequentially increasing. Returns the id (color) used to render the last edge of the polygon. More...

unsigned int	solid_render_with_sequential_ids (unsigned int start_id=1) const
	Render each polygon of this polymesh with a different color. The first polygon will be rendered using the input id as a color, the following ones will be rendered with an id sequentially increasing. Returns the id (color) used to render the last polygon. More...

virtual void	wire_occlude_render () const
	Renders this mesh as a wire frame into the depth buffer. Use wire_render after this to render this mesh as a wire frame by not drawing occluded edges. More...

virtual void	solid_render () const
	Renders this object with GL as a wire-frame. More...

virtual void	silhouette_render (const kjb::Base_gl_interface &camera, double iwidth=1.0) const

virtual void	project ()

double	compute_surface_area () const
	Returns the surface area of the mesh. More...

void	get_all_vertices (std::vector< Vector > &vertices) const
	Stores the vertices of the mesh in a vector. More...

void	get_all_edges (std::vector< std::vector< Vector > > &edges) const
	Stores all of the unique pairs of points that make up the edges of the polymesh in a vector. More...

void	get_lines (std::vector< Line3d > &lines)

void	find_bounds ()

kjb::Vector	get_center ()

double	get_largest_z_bound ()

kjb::Vector	get_largest_bounds () const

kjb::Vector	get_smallest_bounds () const

Public Member Functions inherited from kjb::Abstract_renderable
virtual	~Abstract_renderable ()
	Deletes this Solid_renderable. More...

virtual void	render () const
	Renders this object with GL. More...

virtual void	render_occluded_wireframe () const
	Renders this object with GL as an occluded wire-frame into the depth buffer, to hide unseen lines. More...

Public Member Functions inherited from kjb::Renderable
virtual	~Renderable ()
	Deletes this Renderable. More...

Public Member Functions inherited from kjb::Solid_renderable
virtual	~Solid_renderable ()
	Deletes this Wire_renderable. More...

Public Member Functions inherited from kjb::Wire_renderable
virtual	~Wire_renderable ()
	Deletes this Wire_renderable. More...

Public Member Functions inherited from kjb::Wire_occlude_renderable
virtual	~Wire_occlude_renderable ()
	Deletes this Wire_occlude_renderable. More...

Public Member Functions inherited from kjb::Rigid_object
	Rigid_object ()

	Rigid_object (const Rigid_object &ro)

virtual Rigid_object &	operator= (const Rigid_object &src)

virtual	~Rigid_object ()

virtual void	swap (Self &other)

virtual void	compute_new_euler_angles_on_rotations (double dpitch, double dyaw, double droll, kjb::Vector &angles) const
	computes the new values for the object's euler angles, after a rotation of dpitch around the object's x-axis, a rotation of dyaw around the object's y axis, and a rotation of droll around the object's z axis (in this order, starting from the object's current position). The state of this rigid object is not changed More...

virtual void	set_rotations (double pitch, double yaw, double roll)
	rotate this object so that its pitch, yaw and roll match the input values More...

virtual void	set_rotations_and_translate (double pitch, double yaw, double roll, double dx, double dy, double dz)
	rotate this object so that its pitch, yaw and roll match the input values, and translates it More...

const Matrix &	get_rotations () const
	Returns the current transformation matrix, that is used to store the rotation to be applied to the object. More...

const Vector &	get_euler_angles () const
	returns vector [pitch, yaw, roll] More...

void	set_rotation_mode (kjb::Quaternion::Euler_mode imode)

const kjb::Quaternion &	get_orientation () const
	returns the quaternion defining this object's orientation More...

void	set_orientation (const Quaternion &orientation)
	sets the orientation of this object from an input quaternion More...

Public Member Functions inherited from kjb::Transformable
virtual	~Transformable ()
	Deletes this Transformable. More...

virtual	~Transformable ()
	Deletes this Transformable_d. More...

Public Member Functions inherited from kjb::Cloneable
virtual	~Cloneable ()
	Deletes this Cloneable. More...

Public Member Functions inherited from kjb::Readable
virtual	~Readable ()
	Deletes this Readable. More...

virtual void	read (const char *fname)
	Reads this Readable from a file. More...

Public Member Functions inherited from kjb::Writeable
virtual	~Writeable ()
	Deletes this Writeable. More...

Static Public Member Functions
static int	get_num_edges (int num_facets)

static int	get_edge_indexes (std::vector< int > &base_edge_indexes, std::vector< int > &vertical_edge_indexes, std::vector< int > &top_edge_indexes, int num_facets)

Static Public Member Functions inherited from kjb::Abstract_renderable
static double	get_rendering_framework ()
	returns the rendering framework used to render. The only one implemented up to now is OpenGL More...

static void	set_rendering_framework (unsigned int irf)
	sets the rendering framework used to render. The only one implemented up to now is OpenGL More...

Static Public Member Functions inherited from kjb::Readable
static const char *	read_field_value (std::istream &in, const char field_name, char field_buf, size_t buf_len, char separator=':')
	Reads a line off in into a buffer and returns a pointer to the field value in the buffer. More...

static const char *	read_field_value (std::istream &in, const char *field_name, char separator=':')
	Reads a line off in into an internal buffer and returns a pointer to the field value in the buffer. More...

Protected Attributes
unsigned int	nv
	number of vertices for the top(bottom) surface. More...

std::vector< kjb::Vector >	points
	Points defining this Frustum. More...

kjb::Vector	center
	Center of this frustum. More...

Protected Attributes inherited from kjb::Polymesh
std::vector< kjb::Polygon >	_faces
	Polygons defining the mesh. More...

Vector	smallest_bounds

Vector	largest_bounds

Additional Inherited Members
Protected Types inherited from kjb::Abstract_renderable
enum	Rendering_frameworks { RI_OPENGL }

Protected Member Functions inherited from kjb::Polymesh
bool	is_same_vertex (const kjb::Vector &p1, const kjb::Vector &p2) const
	Compares two points. More...

bool	is_shared_edge (const Polygon &f1, unsigned int e1, const Polygon &f2, unsigned int e2) const throw (Index_out_of_bounds)
	Checks whether edge e1 on face f1 is the same as edge e2 on face f2. More...

bool	edge_index_in_polygon (const Polygon &f1, unsigned int e, const Polygon &f2, unsigned int &index) throw (Index_out_of_bounds)

Static Protected Attributes inherited from kjb::Abstract_renderable
static unsigned int	_rendering_framework = kjb::Abstract_renderable::RI_OPENGL

Detailed Description

frustum: a polyhedron of which each torso face is a trapezoid and the top and bottom surfaces are polygons.

Constructor & Destructor Documentation

Frustum::Frustum	(	unsigned int	inv,
		double	ix,
		double	iy,
		double	iz,
		double	iw,
		double	il,
		double	iratio_top_bottom,
		double	ih,
		double	ipitch,
		double	iyaw,
		double	iroll
	)

Constructs a frustum.

The mapping from the input center point together with the height, top radius and bottom radius to the defined frustum

Upon initialization, the top face and the bottom face are parallel to the xz-planes. Each of these two faces has nv vertices, indexed by 0:nv-1 and nv:2nv-1, respectively. The vertices are placed in the clockwise order, while the 0-th vertice is placed on the +x axis.

  y                    |   nv-2
  |                    |    nv-1
  +---x           -----+-----0-> x
 /                     |    1   
z                      |   2 
                       V    
                       z

The torso faces are formed by connecting the i-th vertice to the (i+nv)-th vertice, i belongs to 0:nv-1. Each torso face has 4 vertices, which are (i, (i+1)nv, (i+1)nv+nv, i+nv).

The indexes of the faces:

j=0:      top surface, xz-plane, +y norm 
j=1:      bottom surface, xz-plane, -y norm 
j=2:nv+1: torso faces with vertices (j-2,(j-2+1)%nv,(j-2+1)%nv+nv,j-2+nv)  

Parameters

nv	number of vertices of the top surface.
ix	X-coord of the center point.
iy	Y-coord of the center point.
iz	Z-coord of the center point.
iw	diameter of the bottom face along the x-axis.
il	diameter of the bottom face along the z-axis.
iratio_top_bottom	ratio of the diameters of the top and bottom face
ih	height of the frustum.
ipitch	pitch angle.
iyaw	yaw angle.
iroll	roll angle.

Frustum::Frustum	(	const std::vector< kjb::Vector > &	p	)
throw	(	kjb::Illegal_argument
	)

Constructs a.

The mapping from 2*nv points to the defined parallelepiped, while those points should come from the vertices of a frustum

Parameters

p	the vector of vertices.

Exceptions

kjb::Illegal_argument The vectors are not 3D.

Frustum::Frustum ( const Frustum & p )

Constructs a frustum by copying another.

Parameters

p	Frustum to copy into this one.

Frustum::Frustum	(	const char *	fname,
		unsigned int	inv
	)
throw	(	kjb::Illegal_argument,
		kjb::IO_error
	)

Reads a frustum from an input file.

The file format is big-endian binary.

Parameters

fname Input file to read this parallelepiped from.

Exceptions

kjb::IO_error	Could not read from in.
kjb::Illegal_argument	Invalid arguments in file to read from.

Frustum::Frustum	(	std::istream &	in,
		unsigned int	inv
	)
throw	(	kjb::Illegal_argument,
		kjb::IO_error
	)

Reads a frustum from an input stream.

The file format is big-endian binary.

Parameters

in	Input stream to read this parallelepiped from.

Exceptions

kjb::IO_error	Could not read from in.
kjb::Illegal_argument	Invalid arguments in file to read from.

virtual kjb::Frustum::~Frustum ( )

inlinevirtual

Deletes this frustum.

Member Function Documentation

void Frustum::add_face	(	const Polygon &	face	)
throw	(	kjb::Illegal_argument
	)

virtual

Adds a face to this Frustum -> Not implemented here, it will throw an exception, because the use of this method will violate the constraints defining this Frustum.

Adds a face to this frustum -> Not implemented here, it will throw an exception, because the use of this method will violate the constraints defining this frustum

Parameters

face	The face to be added

Reimplemented from kjb::Polymesh.

unsigned int Frustum::adjacent_face	(	unsigned int	f,
		unsigned int	e
	)		const
throw	(	Index_out_of_bounds,
		KJB_error
	)

virtual

returns the index of the face adjacent to face f along edge e This is an efficient implementation to be used only in the context of the frustum

Parameters

f	we want to find the face adjacent to this face f along edge e
e	the edge along which to look for the adjacent face

Returns: the index of the face adjacent to face f along edge e

This is an efficient implementation to be used only in the context of the parallelepiped

Reimplemented from kjb::Polymesh.

Frustum * Frustum::clone ( ) const

virtual

Clones this frustum.

Returns: A new copy of this frustum.

Reimplemented from kjb::Polymesh.

void kjb::Frustum::draw_orientation_map ( ) const

const kjb::Vector & Frustum::get_center ( ) const

Returns the center vector for this frustum.

The vector is in homogeneous coordinates x, y, z, w. The coordinate w is always 1.

static int kjb::Frustum::get_edge_indexes	(	std::vector< int > &	base_edge_indexes,
		std::vector< int > &	vertical_edge_indexes,
		std::vector< int > &	top_edge_indexes,
		int	num_facets
	)

inlinestatic

static int kjb::Frustum::get_num_edges ( int num_facets )

inlinestatic

const kjb::Vector & Frustum::get_point	(	size_t	i	)	const
throw	(	kjb::Illegal_argument
	)

Returns an indexed point defining this Frustum.

Returns: The ith point of this frustum using the convention described in the constructor

Parameters

i	the index of the point to be returned

Frustum & Frustum::operator= ( const Frustum & p )

virtual

Copies a frustum into this one.

Performs a deep copy of the faces in the parallelepiped.

Parameters

p	Parallelepiped to copy into this one.

Returns: A reference to this parallelepiped.

void Frustum::read	(	std::istream &	in	)
throw	(	kjb::IO_error,
		kjb::Illegal_argument
	)

virtual

Reads this frustum from an input stream.

Parameters

in	Input stream to read the members of this frustum from.

Exceptions

kjb::IO_error	Could not read from in.
kjb::Illegal_argument	Invalid argument to read from file.

Reimplemented from kjb::Polymesh.

void Frustum::set_points	(	unsigned int	inv,
		double	ix,
		double	iy,
		double	iz,
		double	iw,
		double	il,
		double	iratio_top_bottom,
		double	ih
	)

reset the points of this Frustum

Resets the points of this frustum

Parameters

x1	X-coord of the point 1.
y1	Y-coord of the point 1.
z1	Z-coord of the point 1.
x2	X-coord of the point 2.
y2	Y-coord of the point 2.
z2	Z-coord of the point 2.
x3	X-coord of the point 3.
y3	Y-coord of the point 3.
z3	Z-coord of the point 3.
x4	X-coord of the point 4.
y4	Y-coord of the point 4.
z4	Z-coord of the point 4.

void Frustum::transform	(	const kjb::Matrix &	M	)
throw	(	kjb::Illegal_argument
	)

virtual

Transforms this frustum.

Parameters

M	Homogeneous transformation matrix to transform this frustum by.

Exceptions

kjb::Illegal_argument The matrix is not in 4x4 homogeneous coordinates.

Reimplemented from kjb::Polymesh.

void Frustum::write	(	std::ostream &	out	)	const
throw	(	kjb::IO_error
	)

virtual

Writes this frustum to an output stream.

The file format is big-endian binary.

Parameters

out	Output stream to write the members of this parallelepiped to.

Exceptions

kjb::IO_error Could not write to out.

Reimplemented from kjb::Polymesh.

Member Data Documentation

kjb::Vector kjb::Frustum::center

protected

Center of this frustum.

Calculated as the average of the face centroids.

unsigned int kjb::Frustum::nv

protected

number of vertices for the top(bottom) surface.

std::vector<kjb::Vector > kjb::Frustum::points

protected

Points defining this Frustum.

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

/work/kobus/src/lib/gr_cpp/gr_parametric_frustum.h
/work/kobus/src/lib/gr_cpp/gr_parametric_frustum.cpp

Public Member Functions

Static Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation