RobWorkProject: SceneOpenGL Class Reference

Helps with Visualizing a Workcell. SceneOpenGL is OpenGL specific. More...

#include <SceneOpenGL.hpp>

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

Public Types inherited from SceneGraph
typedef rw::core::Ptr< SceneGraph >	Ptr
	smart pointer type of this class

typedef DrawableNode::DrawType	DrawType
	Drawing types.

using	RenderInfo = SceneGraphRenderInfo

typedef boost::function< bool(rw::core::Ptr< rw::graphics::SceneNode > &node, rw::core::Ptr< rw::graphics::SceneNode > &parent)>	NodeVisitor
	Type of a visitor function. Returns true if visit is done.

typedef boost::function< bool(const rw::core::Ptr< rw::graphics::SceneNode > &node)>	NodeFilter
	Type of a filter function.

Public Member Functions
	SceneOpenGL ()
	Creates object.

virtual	~SceneOpenGL ()
	Destroys object.

void	clearCache ()
	Clears the drawable cache by deleting all drawables.

void	draw (rw::graphics::SceneGraph::RenderInfo &info)
	draws the scene, using the specified render information More...

void	draw (rw::graphics::SceneGraph::RenderInfo &info, rw::graphics::SceneNode::Ptr node)
	draws the scene, using the specified render information More...

rw::graphics::DrawableNode::Ptr	pickDrawable (rw::graphics::SceneGraph::RenderInfo &info, int x, int y)
	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates. More...

rw::math::Vector3D	unproject (rw::graphics::SceneCamera::Ptr camera, int x, int y)
	this method unprojects a 2D screen coordinate to 3D coordinates from the last draw'n scene. Which is the closest 3d point from the intersection of the ray (x,y,-1) and the objects drawn in the scene. More...

rw::math::Vector3D	project (rw::graphics::SceneCamera::Ptr camera, double x, double y, double z)
	this method projects a 3D coordinate to 2D screen coordinates from the last draw'n scene. More...

void	update ()
	should be called after the structure of the scene has been changed More...

rw::graphics::DrawableGeometryNode::Ptr	makeDrawableFrameAxis (const std::string &name, double size, int dmask)
	Create a drawable node for a frame axis coordinate system. More...

rw::graphics::DrawableGeometryNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< rw::geometry::Geometry > geom, int dmask)

rw::graphics::DrawableGeometryNode::Ptr	makeDrawable (const std::string &name, const std::vector< rw::geometry::Line > &lines, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< rw::geometry::Model3D > model, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &name, const class rw::sensor::Image &img, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &name, const rw::geometry::PointCloud &scan, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &name, const std::string &text, const rw::core::Ptr< rw::kinematics::Frame > labelFrame, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< rw::graphics::Render > render, int dmask)

rw::graphics::DrawableNode::Ptr	makeDrawable (const std::string &filename, int dmask)
	Create a drawable node from a file. More...

rw::core::Ptr< rw::graphics::SceneCamera >	makeCamera (const std::string &name)
	Create a new scene camera. More...

rw::core::Ptr< rw::graphics::CameraGroup >	makeCameraGroup (const std::string &name)
	Create a camera group. More...

void	clear ()
	Clear the scene graph.

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

virtual GroupNode::Ptr	makeGroupNode (const std::string &name)
	Make a group node. More...

virtual rw::core::Ptr< rw::graphics::CameraGroup >	findCameraGroup (const std::string &name)
	Find a camera group. More...

virtual void	addCameraGroup (rw::core::Ptr< rw::graphics::CameraGroup > cgroup)
	Add a camera group. More...

virtual void	removeCameraGroup (rw::core::Ptr< rw::graphics::CameraGroup > cgroup)
	Remove a camera group. More...

virtual void	removeCameraGroup (const std::string &name)
	Remove a camera group. More...

virtual std::list< rw::core::Ptr< rw::graphics::CameraGroup > >	getCameraGroups ()
	Get all camera groups. More...

virtual void	setRoot (rw::graphics::GroupNode::Ptr node)
	Set the root of the scene graph. More...

virtual rw::graphics::GroupNode::Ptr	getRoot ()
	Get the root of the scene graph. More...

virtual void	addChild (rw::core::Ptr< rw::graphics::SceneNode > child, rw::graphics::GroupNode::Ptr parent)
	add a drawable to a node

virtual std::vector< rw::graphics::DrawableNode::Ptr >	getDrawables ()
	get all drawables in the scene. More...

virtual std::vector< rw::graphics::DrawableNode::Ptr >	getDrawables (rw::core::Ptr< rw::graphics::SceneNode > node)
	get a vector of drawables attached to a node More...

virtual std::vector< rw::graphics::DrawableNode::Ptr >	getDrawablesRec (rw::core::Ptr< rw::graphics::SceneNode > node)
	get all drawable nodes in the subtree of node. nodes of type camera will not be traversed More...

virtual rw::graphics::DrawableNode::Ptr	findDrawable (const std::string &name)
	Find a drawable node in the scene graph. More...

virtual rw::graphics::DrawableNode::Ptr	findDrawable (const std::string &name, rw::core::Ptr< SceneNode > node)
	Find a drawable node in the scene graph. More...

virtual std::vector< rw::graphics::DrawableNode::Ptr >	findDrawables (const std::string &name)
	Find multiple drawable nodes in the scene graph. More...

virtual bool	removeDrawables (rw::graphics::GroupNode::Ptr node)
	Remove a node. More...

virtual bool	removeDrawables (const std::string &name)
	Remove all drawables with a given name. More...

virtual bool	removeDrawable (rw::graphics::DrawableNode::Ptr drawable)
	Remove a specific drawable. More...

virtual bool	removeDrawable (rw::graphics::DrawableNode::Ptr drawable, rw::core::Ptr< rw::graphics::SceneNode > node)
	Remove a specific drawable. More...

virtual bool	removeDrawable (const std::string &name)
	Remove a specific drawable with a given name. More...

virtual bool	removeChild (const std::string &name, rw::graphics::GroupNode::Ptr node)
	Removes child with the specified name from the node. More...

void	traverse (rw::core::Ptr< rw::graphics::SceneNode > &node, NodeVisitor &visitor)
	Traverse all nodes in the subtree under node recursively. More...

void	traverse (rw::core::Ptr< rw::graphics::SceneNode > &node, NodeVisitor &visitor, NodeVisitor &postvisitor)
	Traverse all nodes in the subtree under node recursively. More...

void	traverse (rw::core::Ptr< rw::graphics::SceneNode > &node, NodeVisitor &visitor, const NodeFilter &filter)
	Traverse all nodes in the subtree under node recursively. More...

void	traverse (rw::core::Ptr< rw::graphics::SceneNode > &node, NodeVisitor &visitor, NodeVisitor &postvisitor, const NodeFilter &filter)
	Traverse all nodes in the subtree under node recursively. More...

Static Public Member Functions
static std::string	detectGLerror ()
	Check if there has been any OpenGL errors since last call to this function or to glGetError. More...

Additional Inherited Members
Protected Member Functions inherited from SceneGraph
	SceneGraph ()
	Construct new scene graph with only a root node "Root".

	SceneGraph (rw::graphics::GroupNode::Ptr root)
	Construct a new scene graph with a given root node. More...

Protected Attributes inherited from SceneGraph
rw::graphics::GroupNode::Ptr	_root
	The root node of the graph.

std::list< rw::core::Ptr< rw::graphics::CameraGroup > >	_cameraGroups
	The camera groups in the graph.

Detailed Description

Helps with Visualizing a Workcell. SceneOpenGL is OpenGL specific.

Member Function Documentation

◆ detectGLerror()

static std::string detectGLerror ( )

static

Check if there has been any OpenGL errors since last call to this function or to glGetError.

Returns: a string representation of the error, or empty string if there is no error.

◆ draw() [1/2]

void draw ( rw::graphics::SceneGraph::RenderInfo & info )

virtual

draws the scene, using the specified render information

Parameters

info	documentation missing !

Implements SceneGraph.

◆ draw() [2/2]

void draw	(	rw::graphics::SceneGraph::RenderInfo &	info,
		rw::graphics::SceneNode::Ptr	node
	)

draws the scene, using the specified render information

Parameters

info	documentation missing !
node	[in] draw only this subtree.

◆ makeCamera()

rw::core::Ptr<rw::graphics::SceneCamera> makeCamera ( const std::string & name )

virtual

Create a new scene camera.

Parameters

name	[in] name of the camera.

Returns: the new scene camera.

Implements SceneGraph.

◆ makeCameraGroup()

rw::core::Ptr<rw::graphics::CameraGroup> makeCameraGroup ( const std::string & name )

virtual

Create a camera group.

Parameters

name	[in] name of the group.

Returns: a new camera group.

Reimplemented from SceneGraph.

◆ makeDrawable() [1/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	filename,
		int	dmask
	)

virtual

Create a drawable node from a file.

Parameters

filename	[in] a filename (alternatively a string for a geometric primitive).
dmask	[in] (optional) the type of drawable. Default is DrawableNode::Physical.

Returns: a drawable node.

Implements SceneGraph.

◆ makeDrawable() [2/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		const class rw::sensor::Image &	img,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawable() [3/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		const rw::geometry::PointCloud &	scan,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawable() [4/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		const std::string &	text,
		const rw::core::Ptr< rw::kinematics::Frame >	labelFrame,
		int	dmask
	)

virtual

Parameters

name	[in] name of the drawable.
text	[in] the text to draw.
labelFrame	[in] the frame the label belongs to.
dmask	[in] (optional) the type of drawable. Default is DrawableNode::Virtual.

Returns: a drawable node.

Implements SceneGraph.

◆ makeDrawable() [5/8]

rw::graphics::DrawableGeometryNode::Ptr makeDrawable	(	const std::string &	name,
		const std::vector< rw::geometry::Line > &	lines,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawable() [6/8]

rw::graphics::DrawableGeometryNode::Ptr makeDrawable	(	const std::string &	name,
		rw::core::Ptr< rw::geometry::Geometry >	geom,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawable() [7/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		rw::core::Ptr< rw::geometry::Model3D >	model,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawable() [8/8]

rw::graphics::DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		rw::core::Ptr< rw::graphics::Render >	render,
		int	dmask
	)

virtual

Implements SceneGraph.

◆ makeDrawableFrameAxis()

rw::graphics::DrawableGeometryNode::Ptr makeDrawableFrameAxis	(	const std::string &	name,
		double	size,
		int	dmask
	)

virtual

Create a drawable node for a frame axis coordinate system.

Parameters

name	[in] name of the drawable.
size	[in] size of the axis.
dmask	[in] (optional) the type of drawable. Default is DrawableNode::Physical.

Returns: a drawable geometry node.

Implements SceneGraph.

◆ pickDrawable()

rw::graphics::DrawableNode::Ptr pickDrawable	(	rw::graphics::SceneGraph::RenderInfo &	info,
		int	x,
		int	y
	)

virtual

picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates.

Parameters

info	[in] rendering information.
x	[in] first camera coordinate.
y	[in] second camera coordinate.

Returns: the picked drawable.

Implements SceneGraph.

◆ project()

rw::math::Vector3D project	(	rw::graphics::SceneCamera::Ptr	camera,
		double	x,
		double	y,
		double	z
	)

virtual

this method projects a 3D coordinate to 2D screen coordinates from the last draw'n scene.

Note: this method relies on a previously drawn scene, eg. call to draw(). Any thing drawn in the scene can be "picked" by this method.

(0,0) is located in the upper left corner, with x-axis increasing to the right and y-axis increasing to the bottom. The negative z-axis points into the scene-

Parameters

camera	[in] the SceneCamera.
x	[in] x coordinate [0;viewport.width]
y	[in] y coordinate [0;viewport.height]
z	[in] z coordinate

Returns: the 2D point,

Implements SceneGraph.

◆ unproject()

rw::math::Vector3D unproject	(	rw::graphics::SceneCamera::Ptr	camera,
		int	x,
		int	y
	)

virtual

this method unprojects a 2D screen coordinate to 3D coordinates from the last draw'n scene. Which is the closest 3d point from the intersection of the ray (x,y,-1) and the objects drawn in the scene.

Note: this method relies on a previously drawn scene, eg. call to draw(). Any thing drawn in the scene can be "picked" by this method.

(0,0) is located in the upper left corner, with x-axis increasing to the right and y-axis increasing to the bottom. The negative z-axis points into the scene-

Parameters

camera	[in] the scene camera.
x	[in] x coordinate [0;viewport.width]
y	[in] y coordinate [0;viewport.height]

Returns: the 3D point,

Implements SceneGraph.

◆ update()

void update ( )

virtual

should be called after the structure of the scene has been changed

Implements SceneGraph.

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

SceneOpenGL.hpp

Public Types

Public Member Functions

Static Public Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ detectGLerror()

◆ draw() [1/2]

◆ draw() [2/2]

◆ makeCamera()

◆ makeCameraGroup()

◆ makeDrawable() [1/8]

◆ makeDrawable() [2/8]

◆ makeDrawable() [3/8]

◆ makeDrawable() [4/8]

◆ makeDrawable() [5/8]

◆ makeDrawable() [6/8]

◆ makeDrawable() [7/8]

◆ makeDrawable() [8/8]

◆ makeDrawableFrameAxis()

◆ pickDrawable()

◆ project()

◆ unproject()

◆ update()