Package org.robwork.sdurw_graphics

Class SceneGraph

  • public class SceneGraph
extends java.lang.Object
    interface for a minimalistic scenegraph that does not depend on the frame structure.
    See WorkCellScene for an implementation that wraps this interface to enable a more RobWork
    specific use.

    Cameras - SceneCameras define how the world is rendered from a specific point of view,
    render setting, projection matrix, viewport and so on.

    Cameras are ordered in CameraGroups. Each camera group can contain multiple cameras that
    are ordered according to how they should render the scene. A typical setup of one group would
    be: first camera - clear color and depth buffers, render background ibn orthographic
    projection second camera - render all 3D scene elements in perspective projection third
    camera - render foreground such as logo in orthographic projection

    As can be seen the ordering is of high importance since the first camera clears the frame
    buffers.

    • Constructor Detail

      • SceneGraph

        public SceneGraph​(long cPtr,
                  boolean cMemoryOwn)

    • Method Detail

      • getCPtr

        public static long getCPtr​(SceneGraph obj)

      • delete

        public void delete()

      • draw

        public void draw​(SceneGraph.SceneGraphRenderInfo info)
        draws the scene, using the specified render information
        Parameters:
        info - documentation missing !

      • pickDrawable

        public DrawableNodePtr pickDrawable​(SceneGraph.SceneGraphRenderInfo info,
                                    int x,
                                    int y)
        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.

      • unproject

        public Vector3D unproject​(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneCamera_t 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.

        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,

      • project

        public Vector3D project​(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneCamera_t camera,
                        double x,
                        double y,
                        double z)
        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,

      • update

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

      • clear

        public void clear()
        Clear the scene graph.

      • makeDrawableFrameAxis

        public DrawableGeometryNodePtr makeDrawableFrameAxis​(java.lang.String name,
                                                     double size,
                                                     int dmask)
        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.

      • makeDrawableFrameAxis

        public DrawableGeometryNodePtr makeDrawableFrameAxis​(java.lang.String name,
                                                     double size)
        Create a drawable node for a frame axis coordinate system.
        Parameters:
        name - [in] name of the drawable.
        size - [in] size of the axis.

        Returns:
        a drawable geometry node.

      • makeDrawable

        public DrawableGeometryNodePtr makeDrawable​(java.lang.String name,
                                            GeometryPtr geom,
                                            int dmask)
        Create a drawable node for a geometry.
        Parameters:
        name - [in] name of the drawable.
        geom - [in] the geometry to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable geometry node.

      • makeDrawable

        public DrawableGeometryNodePtr makeDrawable​(java.lang.String name,
                                            GeometryPtr geom)
        Create a drawable node for a geometry.
        Parameters:
        name - [in] name of the drawable.
        geom - [in] the geometry to draw.

        Returns:
        a drawable geometry node.

      • makeDrawable

        public DrawableGeometryNodePtr makeDrawable​(java.lang.String name,
                                            VectorLine lines,
                                            int dmask)
        Create a drawable node for lines.
        Parameters:
        name - [in] name of the drawable.
        lines - [in] the lines to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable geometry node.

      • makeDrawable

        public DrawableGeometryNodePtr makeDrawable​(java.lang.String name,
                                            VectorLine lines)
        Create a drawable node for lines.
        Parameters:
        name - [in] name of the drawable.
        lines - [in] the lines to draw.

        Returns:
        a drawable geometry node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    Image img,
                                    int dmask)
        Create a drawable node for an image.
        Parameters:
        name - [in] name of the drawable.
        img - [in] the image to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    Image img)
        Create a drawable node for an image.
        Parameters:
        name - [in] name of the drawable.
        img - [in] the image to draw.

        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    PointCloud scan,
                                    int dmask)
        Create a drawable node for a point cloud.
        Parameters:
        name - [in] name of the drawable.
        scan - [in] the point cloud to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    PointCloud scan)
        Create a drawable node for a point cloud.
        Parameters:
        name - [in] name of the drawable.
        scan - [in] the point cloud to draw.

        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    Model3DPtr model,
                                    int dmask)
        Create a drawable node for a 3d model.
        Parameters:
        name - [in] name of the drawable.
        model - [in] the 3d model to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    Model3DPtr model)
        Create a drawable node for a 3d model.
        Parameters:
        name - [in] name of the drawable.
        model - [in] the 3d model to draw.

        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    java.lang.String text,
                                    FramePtr labelFrame,
                                    int dmask)
        Create a drawable node for a text label.
        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.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    java.lang.String text,
                                    FramePtr labelFrame)
        Create a drawable node for a text label.
        Parameters:
        name - [in] name of the drawable.
        text - [in] the text to draw.
        labelFrame - [in] the frame the label belongs to.

        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    RenderPtr render,
                                    int dmask)
        Create a drawable node for a render.
        Parameters:
        name - [in] name of the drawable.
        render - [in] the render to draw.
        dmask - [in] (optional) the type of drawable. Default is DrawableNode::Physical.
        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String name,
                                    RenderPtr render)
        Create a drawable node for a render.
        Parameters:
        name - [in] name of the drawable.
        render - [in] the render to draw.

        Returns:
        a drawable node.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String filename,
                                    int dmask)
        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.

      • makeDrawable

        public DrawableNodePtr makeDrawable​(java.lang.String filename)
        Create a drawable node from a file.
        Parameters:
        filename - [in] a filename (alternatively a string for a geometric primitive).

        Returns:
        a drawable node.

      • makeGroupNode

        public GroupNodePtr makeGroupNode​(java.lang.String name)
        Make a group node.
        Parameters:
        name - [in] name of the node.
        Returns:
        new group node.

      • removeCameraGroup

        public void removeCameraGroup​(java.lang.String name)
        Remove a camera group.
        Parameters:
        name - [in] the name of the group.

      • setRoot

        public void setRoot​(GroupNodePtr node)
        Set the root of the scene graph.
        Parameters:
        node - [in] the root node.

      • getRoot

        public GroupNodePtr getRoot()
        Get the root of the scene graph.
        Returns:
        the root group node.

      • findDrawable

        public DrawableNodePtr findDrawable​(java.lang.String name)
        Find a drawable node in the scene graph.
        Parameters:
        name - [in] the name of the drawable node.
        Returns:
        the node if found, NULL otherwise.

      • findDrawable

        public DrawableNodePtr findDrawable​(java.lang.String name,
                                    SceneNodePtr node)
        std::string&)
        Parameters:
        node - [in] search only this node and all children recursively.

      • removeDrawables

        public boolean removeDrawables​(GroupNodePtr node)
        Remove a node.
        Parameters:
        node - [in] the group node to remove.
        Returns:
        true if removed, false otherwise.

      • removeDrawables

        public boolean removeDrawables​(java.lang.String name)
        Remove all drawables with a given name.
        Parameters:
        name - [in] the name.
        Returns:
        true if removed, false otherwise.

      • removeDrawable

        public boolean removeDrawable​(DrawableNodePtr drawable)
        Remove a specific drawable.
        Parameters:
        drawable - [in] the drawable.
        Returns:
        true if removed, false otherwise.

      • removeDrawable

        public boolean removeDrawable​(DrawableNodePtr drawable,
                              SceneNodePtr node)
        Remove a specific drawable.
        Parameters:
        drawable - [in] the drawable.
        node - [in] only search this node and children recursively.
        Returns:
        true if removed, false otherwise.

      • removeDrawable

        public boolean removeDrawable​(java.lang.String name)
        Remove a specific drawable with a given name.
        Parameters:
        name - [in] the name.
        Returns:
        true if removed, false otherwise.

      • removeChild

        public boolean removeChild​(java.lang.String name,
                           GroupNodePtr node)
        Removes child with the specified name from the node.

        Parameters:
        name - [in] Name of child to remove
        node - [in] Node to remove from
        Returns:
        true if found and successfully removed.