RobWorkProject: DrawableGeometryNode Class Reference

A specific type of DrawableNode that is able to draw a rw::geometry::Geometry. More...

#include <DrawableGeometryNode.hpp>

Public Types
typedef rw::core::Ptr< DrawableGeometryNode >	Ptr
	Smart pointer type for DrawableGeometryNode.

Public Types inherited from DrawableNode
enum	DrawableTypeMask { Physical = 1 , Virtual = 2 , DrawableObject = 4 , CollisionObject = 8 , User1 = 1024 , User2 = 2048 , User3 = 4096 , User4 = 8096 , ALL = 0x7FFFFFFF }
	draw mask is used to filter which drawables to exclude from rendering. More...

enum	DrawType { SOLID , WIRE , OUTLINE }
	when calling render on the draw mode or type can be specified. More...

typedef rw::core::Ptr< DrawableNode >	Ptr
	smart pointer type to this class

Public Types inherited from SceneNode
enum	AddPolicy { Front , Back }
	Policy for adding parent nodes. More...

enum	NodeType { GroupType = 0 , CameraType , DrawableType , UserBeginType = 1024 }
	Node types. More...

typedef rw::core::Ptr< SceneNode >	Ptr
	Smart pointer type for SceneNode.

typedef std::list< SceneNode::Ptr >	NodeList
	Type for the list of nodes.

typedef const std::list< SceneNode::Ptr >	NodeListConst
	Type for a const list of nodes.

Public Member Functions
virtual void	setColor (double r, double g, double b, double alpha)=0
	sets the RGBA color of the geometry More...

virtual void	setColor (const rw::math::Vector3D<> &rgb)=0
	sets the RGB color of the geometry More...

virtual void	setAlpha (double alpha)=0
	sets the alpha value More...

virtual rw::math::Vector3D	getColor ()=0
	get the RGB color More...

virtual double	getAlpha ()=0
	get alpha value More...

virtual void	addLines (const std::vector< rw::geometry::Line > &lines, double thickness=1)=0
	add lines to this geometry More...

virtual void	addLine (const rw::math::Vector3D<> &v1, const rw::math::Vector3D<> &v2, double thickness=1)=0
	add a single line segment to this geometry render More...

virtual void	addGeometry (rw::core::Ptr< class rw::geometry::Geometry > geom)=0
	add a geometry to this render More...

virtual void	addFrameAxis (double size)=0
	add a frame axis to this geometry More...

Public Member Functions inherited from DrawableNode
virtual	~DrawableNode ()
	Destructor.

virtual void	draw (const DrawableNode::RenderInfo &info=RenderInfo()) const =0
	draws the object.

virtual void	setHighlighted (bool b)=0
	enables or disables highlighting of the drawable class More...

virtual bool	isHighlighted () const =0
	Returns whether the DrawableNode is highlighted. More...

virtual void	setDrawType (DrawType drawType)=0
	Sets the DrawType. More...

virtual void	setTransparency (float alpha)=0
	Sets up the color alpha value. More...

virtual float	getTransparency ()=0
	Gets the color alpha value. More...

bool	isTransparent ()
	Check if node is transparent. More...

virtual void	setScale (float scale)=0
	Specifies the scale of the object. More...

virtual float	getScale () const =0
	gets the scale of the object More...

virtual void	setVisible (bool enable)=0
	enable or disable this drawable. When disabled the drawable will not render anything.

virtual bool	isVisible ()=0
	checks if this drawable is enabled

virtual const rw::math::Transform3D &	getTransform () const =0
	gets the transformation of the drawable object More...

virtual void	setTransform (const rw::math::Transform3D<> &t3d)=0
	Sets the transformation of the drawable object. More...

virtual void	setMask (unsigned int mask)=0
	the group(s) that this drawable belong to More...

virtual unsigned int	getMask () const =0
	Get the DrawableTypeMask for the node. More...

DrawableNode *	asDrawableNode ()
	Get a pointer to a DrawableNode, if this is a DrawableNode. More...

Public Member Functions inherited from SceneNode
virtual	~SceneNode ()
	Destructor.

void	addParent (SceneNode::Ptr node, AddPolicy policy=Back)
	Add a parent node. More...

bool	hasParent (SceneNode::Ptr parent)
	Check if the given node is a parent node. More...

void	removeParent (SceneNode::Ptr node)
	erases the parent from the parent list. More...

virtual GroupNode *	asGroupNode ()
	Get a pointer to a GroupNode, if this is a GroupNode. More...

virtual SceneCamera *	asCameraNode ()
	Get a pointer to a CameraNode, if this is a CameraNode. More...

int	getType ()
	Get the NodeType. More...

const std::string &	getName ()
	Get the name of the node. More...

void	setName (const std::string &name)
	Set the name of this node. More...

Protected Member Functions
	DrawableGeometryNode (const std::string &name)
	Construct new drawable geometry node. More...

Protected Member Functions inherited from DrawableNode
	DrawableNode (const std::string &name)
	constructor

Protected Member Functions inherited from SceneNode
	SceneNode (const std::string &name, int type)
	Construct new scene node. More...

Additional Inherited Members
Static Public Member Functions inherited from SceneNode
static void	removeParent (SceneNode::Ptr node, SceneNode::Ptr parent)
	Remove a parent node. More...

Public Attributes inherited from SceneNode
std::string	_name
	The name of the node.

std::list< SceneNode::Ptr >	_parentNodes
	The list of parent nodes.

int	_type
	The NodeType.

Detailed Description

A specific type of DrawableNode that is able to draw a rw::geometry::Geometry.

Constructor & Destructor Documentation

◆ DrawableGeometryNode()

DrawableGeometryNode ( const std::string & name )

inlineprotected

Construct new drawable geometry node.

Parameters

name	[in] name of the node.

Member Function Documentation

◆ addFrameAxis()

virtual void addFrameAxis ( double size )

pure virtual

add a frame axis to this geometry

Parameters

size	[in] length of the frame axis's

Implemented in DrawableGeometry.

◆ addGeometry()

virtual void addGeometry ( rw::core::Ptr< class rw::geometry::Geometry > geom )

pure virtual

add a geometry to this render

Parameters

geom	[in] a geometry that should be rendered

Implemented in DrawableGeometry.

◆ addLine()

virtual void addLine	(	const rw::math::Vector3D<> &	v1,
		const rw::math::Vector3D<> &	v2,
		double	thickness = `1`
	)

pure virtual

add a single line segment to this geometry render

Parameters

v1	[in] line segment vertice 1
v2	[in] line segment vertice 2

Implemented in DrawableGeometry.

◆ addLines()

virtual void addLines	(	const std::vector< rw::geometry::Line > &	lines,
		double	thickness = `1`
	)

pure virtual

add lines to this geometry

Parameters

lines [in] list of line segments that should be added

Implemented in DrawableGeometry.

◆ getAlpha()

virtual double getAlpha ( )

pure virtual

get alpha value

Returns: alpha

Implemented in DrawableGeometry.

◆ getColor()

virtual rw::math::Vector3D getColor ( )

pure virtual

get the RGB color

Returns: RGB color

Implemented in DrawableGeometry.

◆ setAlpha()

virtual void setAlpha ( double alpha )

pure virtual

sets the alpha value

Parameters

alpha [in] between [0;1], 0 is completely transparent

Implemented in DrawableGeometry.

◆ setColor() [1/2]

virtual void setColor ( const rw::math::Vector3D<> & rgb )

pure virtual

sets the RGB color of the geometry

Parameters

rgb	[in] red, green and blue must be between [0;1]

Implemented in DrawableGeometry.

◆ setColor() [2/2]

virtual void setColor	(	double	r,
		double	g,
		double	b,
		double	alpha
	)

pure virtual

sets the RGBA color of the geometry

Parameters

r	[in] red [0;1]
g	[in] green [0;1]
b	[in] blue [0;1]
alpha	[in] opasity value [0;1], 0 is completely transparent

Implemented in DrawableGeometry.

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

DrawableGeometryNode.hpp

Public Types

Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DrawableGeometryNode()

Member Function Documentation

◆ addFrameAxis()

◆ addGeometry()

◆ addLine()

◆ addLines()

◆ getAlpha()

◆ getColor()

◆ setAlpha()

◆ setColor() [1/2]

◆ setColor() [2/2]