RobWorkProject  24.5.15-
Public Types | Public Member Functions | Protected Attributes | List of all members
DrawableGeometry Class Reference

Abstract base class for all drawable classes. More...

#include <DrawableGeometry.hpp>

Inherits DrawableGeometryNode.

Public Types

typedef rw::core::Ptr< DrawableGeometryPtr
 smart pointer type to this class
 
- Public Types inherited from DrawableGeometryNode
typedef rw::core::Ptr< DrawableGeometryNodePtr
 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< DrawableNodePtr
 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< SceneNodePtr
 Smart pointer type for SceneNode.
 
typedef std::list< SceneNode::PtrNodeList
 Type for the list of nodes.
 
typedef const std::list< SceneNode::PtrNodeListConst
 Type for a const list of nodes.
 

Public Member Functions

 DrawableGeometry (const std::string &name, unsigned int dmask=Physical)
 Constructer for Drawable. More...
 
virtual ~DrawableGeometry ()
 Virtual destructor.
 
std::vector< rw::core::Ptr< rw::graphics::Render > > getRenders () const
 Get this drawables Render object.
 
void setColor (double r, double g, double b, double alpha)
 
void setColor (const rw::math::Vector3D<> &rgb)
 sets the RGB color of the geometry More...
 
void setAlpha (double alpha)
 sets the alpha value More...
 
rw::math::Vector3D getColor ()
 get the RGB color More...
 
double getAlpha ()
 get alpha value More...
 
void addLines (const std::vector< rw::geometry::Line > &lines, double thickness=1)
 add lines to this geometry More...
 
void addLine (const rw::math::Vector3D<> &v1, const rw::math::Vector3D<> &v2, double thickness=1)
 add a single line segment to this geometry render More...
 
void addGeometry (rw::core::Ptr< rw::geometry::Geometry > geom)
 add a geometry to this render More...
 
void addFrameAxis (double size)
 add a frame axis to this geometry More...
 
virtual void draw (const rw::graphics::DrawableNode::RenderInfo &info) const
 draws the object. More...
 
void setHighlighted (bool b)
 enables or disables highlighting of the drawable class More...
 
bool isHighlighted () const
 Returns whether the DrawableNode is highlighted. More...
 
void setDrawType (rw::graphics::DrawableNode::DrawType drawType)
 Sets the DrawType. More...
 
void setTransparency (float alpha)
 Sets up the color alpha value. More...
 
float getTransparency ()
 Gets the color alpha value. More...
 
void setScale (float scale)
 Specifies the scale of the object. More...
 
float getScale () const
 gets the scale of the object More...
 
void setVisible (bool enable)
 enable or disable this drawable. When disabled the drawable will not render anything. More...
 
bool isVisible ()
 checks if this drawable is enabled More...
 
const rw::math::Transform3DgetTransform () const
 gets the transformation of the drawable object More...
 
void setTransform (const rw::math::Transform3D<> &t3d)
 Sets the transformation of the drawable object. More...
 
void setMask (unsigned int mask)
 the group(s) that this drawable belong to More...
 
unsigned int getMask () const
 Get the DrawableTypeMask for the node. More...
 
- Public Member Functions inherited from DrawableNode
virtual ~DrawableNode ()
 Destructor.
 
bool isTransparent ()
 Check if node is transparent. More...
 
DrawableNodeasDrawableNode ()
 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 GroupNodeasGroupNode ()
 Get a pointer to a GroupNode, if this is a GroupNode. More...
 
virtual SceneCameraasCameraNode ()
 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 Attributes

rw::core::Ptr< Drawable_drawable
 The drawable that controls the rendering of the geometry, frame axes and more.
 
rw::core::Ptr< RenderLines_rlines
 Linear to render.
 
std::vector< rw::core::Ptr< RenderFrame > > _rframes
 Renders for frames.
 
std::vector< rw::core::Ptr< RenderGeometry > > _rgeoms
 Renders for geometries.
 

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.
 
- Protected Member Functions inherited from DrawableGeometryNode
 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...
 

Detailed Description

Abstract base class for all drawable classes.

Classes that are able to draw them self, may inherit from this class.

The drawable class use a draw mask to distinguish between different groups to draw. E.g. when taking snapshots with a simulated camera virtual objects such as the red laser vector or the lines showing the camera view angle is should not be renered. Hence objects that are virtual should be set to virtual.

A call to draw enabling Physical and User1 defined objects look like:

drawable->draw(Drawable::Physical | Drawable::User1);
@ User1
An object that is also a CollisionObject.
Definition: DrawableNode.hpp:74

Constructor & Destructor Documentation

◆ DrawableGeometry()

DrawableGeometry ( const std::string &  name,
unsigned int  dmask = Physical 
)

Constructer for Drawable.

Parameters
name[in] name/id of this drawable
dmask[in] the drawmask of this drawable

Member Function Documentation

◆ addFrameAxis()

void addFrameAxis ( double  size)
virtual

add a frame axis to this geometry

Parameters
size[in] length of the frame axis's

Implements DrawableGeometryNode.

◆ addGeometry()

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

add a geometry to this render

Parameters
geom[in] a geometry that should be rendered

Implements DrawableGeometryNode.

◆ addLine()

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

add a single line segment to this geometry render

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

Implements DrawableGeometryNode.

◆ addLines()

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

add lines to this geometry

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

Implements DrawableGeometryNode.

◆ draw()

virtual void draw ( const rw::graphics::DrawableNode::RenderInfo info) const
virtual

draws the object.

Implements DrawableNode.

◆ getAlpha()

double getAlpha ( )
virtual

get alpha value

Returns
alpha

Implements DrawableGeometryNode.

◆ getColor()

rw::math::Vector3D getColor ( )
virtual

get the RGB color

Returns
RGB color

Implements DrawableGeometryNode.

◆ getMask()

unsigned int getMask ( ) const
virtual

Get the DrawableTypeMask for the node.

Returns
the type mask.

Implements DrawableNode.

◆ getScale()

float getScale ( ) const
virtual

gets the scale of the object

Returns
scale [in] the scale

Implements DrawableNode.

◆ getTransform()

const rw::math::Transform3D& getTransform ( ) const
virtual

gets the transformation of the drawable object

Returns
transform of the drawable object

Implements DrawableNode.

◆ getTransparency()

float getTransparency ( )
virtual

Gets the color alpha value.

Returns
alpha value in the interval \( [0.0;1.0] \)

Implements DrawableNode.

◆ isHighlighted()

bool isHighlighted ( ) const
virtual

Returns whether the DrawableNode is highlighted.

Returns
true/false

Implements DrawableNode.

◆ isVisible()

bool isVisible ( )
virtual

checks if this drawable is enabled

Implements DrawableNode.

◆ setAlpha()

void setAlpha ( double  alpha)
virtual

sets the alpha value

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

Implements DrawableGeometryNode.

◆ setColor() [1/2]

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

sets the RGB color of the geometry

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

Implements DrawableGeometryNode.

◆ setColor() [2/2]

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

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

Implements DrawableGeometryNode.

◆ setDrawType()

void setDrawType ( rw::graphics::DrawableNode::DrawType  drawType)
virtual

Sets the DrawType.

Parameters
drawType[in] the DrawType to be used

Implements DrawableNode.

◆ setHighlighted()

void setHighlighted ( bool  b)
virtual

enables or disables highlighting of the drawable class

Parameters
b[in] a if true highlight is enabled if false disabled

Implements DrawableNode.

◆ setMask()

void setMask ( unsigned int  mask)
virtual

the group(s) that this drawable belong to

Parameters
mask[in] drawable mask

Implements DrawableNode.

◆ setScale()

void setScale ( float  scale)
virtual

Specifies the scale of the object.

Parameters
scale[in] the scale

Implements DrawableNode.

◆ setTransform()

void setTransform ( const rw::math::Transform3D<> &  t3d)
virtual

Sets the transformation of the drawable object.

Parameters
t3d[in] transform of drawable object

Implements DrawableNode.

◆ setTransparency()

void setTransparency ( float  alpha)
virtual

Sets up the color alpha value.

Parameters
alpha[in] \( 0.0 \) corresponds to fully transparent and \( 1.0\) to completely solid.

Implements DrawableNode.

◆ setVisible()

void setVisible ( bool  enable)
virtual

enable or disable this drawable. When disabled the drawable will not render anything.

Implements DrawableNode.


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