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. More...

#include <SceneGraph.hpp>

Inherited by SceneOpenGL.

Classes
struct	SceneGraphRenderInfo
	all general render information is located in this struct More...

Public Types
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
virtual	~SceneGraph ()
	Destructor.

virtual void	draw (RenderInfo &info)=0
	draws the scene, using the specified render information More...

virtual DrawableNode::Ptr	pickDrawable (RenderInfo &info, int x, int y)=0
	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates. More...

virtual rw::math::Vector3D	unproject (SceneCamera::Ptr camera, int x, int y)=0
	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...

virtual rw::math::Vector3D	project (SceneCamera::Ptr camera, double x, double y, double z)=0
	this method projects a 3D coordinate to 2D screen coordinates from the last draw'n scene. More...

virtual void	update ()=0
	should be called after the structure of the scene has been changed

virtual void	clear ()=0
	Clear the scene graph.

virtual rw::graphics::DrawableGeometryNode::Ptr	makeDrawableFrameAxis (const std::string &name, double size, int dmask=DrawableNode::Physical)=0
	Create a drawable node for a frame axis coordinate system. More...

virtual rw::graphics::DrawableGeometryNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< class rw::geometry::Geometry > geom, int dmask=DrawableNode::Physical)=0
	Create a drawable node for a geometry. More...

virtual rw::graphics::DrawableGeometryNode::Ptr	makeDrawable (const std::string &name, const std::vector< class rw::geometry::Line > &lines, int dmask=DrawableNode::Physical)=0
	Create a drawable node for lines. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &name, const class rw::sensor::Image &img, int dmask=DrawableNode::Virtual)=0
	Create a drawable node for an image. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &name, const rw::geometry::PointCloud &scan, int dmask=DrawableNode::Virtual)=0
	Create a drawable node for a point cloud. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< rw::geometry::Model3D > model, int dmask=DrawableNode::Physical)=0
	Create a drawable node for a 3d model. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &name, const std::string &text, rw::core::Ptr< rw::kinematics::Frame > labelFrame, int dmask=DrawableNode::Virtual)=0
	Create a drawable node for a text label. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &name, rw::core::Ptr< rw::graphics::Render > render, int dmask=DrawableNode::Physical)=0
	Create a drawable node for a render. More...

virtual DrawableNode::Ptr	makeDrawable (const std::string &filename, int dmask=DrawableNode::Physical)=0
	Create a drawable node from a file. More...

virtual rw::core::Ptr< SceneCamera >	makeCamera (const std::string &name)=0
	Create a new scene camera. More...

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

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

Protected Member Functions
	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
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

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 & Destructor Documentation

◆ SceneGraph()

SceneGraph ( rw::graphics::GroupNode::Ptr root )

inlineprotected

Construct a new scene graph with a given root node.

Parameters

root	[in] the root node.

Member Function Documentation

◆ addCameraGroup()

virtual void addCameraGroup ( rw::core::Ptr< rw::graphics::CameraGroup > cgroup )

virtual

Add a camera group.

Parameters

cgroup [in] the group to add.

◆ draw()

virtual void draw ( RenderInfo & info )

pure virtual

draws the scene, using the specified render information

Parameters

info	documentation missing !

Implemented in SceneOpenGL.

◆ findCameraGroup()

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

virtual

Find a camera group.

Parameters

name	[in] name of the group.

Returns: the camera group if found, else NULL.

◆ findDrawable() [1/2]

virtual rw::graphics::DrawableNode::Ptr findDrawable ( const std::string & name )

virtual

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() [2/2]

virtual rw::graphics::DrawableNode::Ptr findDrawable	(	const std::string &	name,
		rw::core::Ptr< SceneNode >	node
	)

virtual

Find a drawable node in the scene graph.

Parameters

name	[in] the name of the drawable node.

Returns: the node if found, NULL otherwise.

Parameters

node	[in] search only this node and all children recursively.

◆ findDrawables()

virtual std::vector<rw::graphics::DrawableNode::Ptr> findDrawables ( const std::string & name )

virtual

Find multiple drawable nodes in the scene graph.

Parameters

name	[in] the name of the drawable node(s).

Returns: a vector of all nodes with the given name.

◆ getCameraGroups()

virtual std::list<rw::core::Ptr<rw::graphics::CameraGroup> > getCameraGroups ( )

virtual

Get all camera groups.

Returns: a list of camera groups.

◆ getDrawables() [1/2]

virtual std::vector<rw::graphics::DrawableNode::Ptr> getDrawables ( )

virtual

get all drawables in the scene.

Returns

◆ getDrawables() [2/2]

virtual std::vector<rw::graphics::DrawableNode::Ptr> getDrawables ( rw::core::Ptr< rw::graphics::SceneNode > node )

virtual

get a vector of drawables attached to a node

Parameters

node

Returns

◆ getDrawablesRec()

virtual std::vector<rw::graphics::DrawableNode::Ptr> getDrawablesRec ( rw::core::Ptr< rw::graphics::SceneNode > node )

virtual

get all drawable nodes in the subtree of node. nodes of type camera will not be traversed

Parameters

node [in]

Returns

◆ getRoot()

virtual rw::graphics::GroupNode::Ptr getRoot ( )

virtual

Get the root of the scene graph.

Returns: the root group node.

◆ makeCamera()

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

pure virtual

Create a new scene camera.

Parameters

name	[in] name of the camera.

Returns: the new scene camera.

Implemented in SceneOpenGL.

◆ makeCameraGroup()

virtual 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 in SceneOpenGL.

◆ makeDrawable() [1/8]

virtual DrawableNode::Ptr makeDrawable	(	const std::string &	filename,
		int	dmask = `DrawableNode::Physical`
	)

pure 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.

Implemented in SceneOpenGL.

◆ makeDrawable() [2/8]

virtual DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		const class rw::sensor::Image &	img,
		int	dmask = `DrawableNode::Virtual`
	)

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [3/8]

virtual DrawableNode::Ptr makeDrawable	(	const std::string &	name,
		const rw::geometry::PointCloud &	scan,
		int	dmask = `DrawableNode::Virtual`
	)

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [4/8]

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

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [5/8]

virtual rw::graphics::DrawableGeometryNode::Ptr makeDrawable	(	const std::string &	name,
		const std::vector< class rw::geometry::Line > &	lines,
		int	dmask = `DrawableNode::Physical`
	)

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [6/8]

virtual rw::graphics::DrawableGeometryNode::Ptr makeDrawable	(	const std::string &	name,
		rw::core::Ptr< class rw::geometry::Geometry >	geom,
		int	dmask = `DrawableNode::Physical`
	)

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [7/8]

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

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawable() [8/8]

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

pure virtual

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.

Implemented in SceneOpenGL.

◆ makeDrawableFrameAxis()

virtual rw::graphics::DrawableGeometryNode::Ptr makeDrawableFrameAxis	(	const std::string &	name,
		double	size,
		int	dmask = `DrawableNode::Physical`
	)

pure 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.

Implemented in SceneOpenGL.

◆ makeGroupNode()

virtual GroupNode::Ptr makeGroupNode ( const std::string & name )

virtual

Make a group node.

Parameters

name	[in] name of the node.

Returns: new group node.

◆ pickDrawable()

virtual DrawableNode::Ptr pickDrawable	(	RenderInfo &	info,
		int	x,
		int	y
	)

pure 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.

Implemented in SceneOpenGL.

◆ project()

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

pure 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,

Implemented in SceneOpenGL.

◆ removeCameraGroup() [1/2]

virtual void removeCameraGroup ( const std::string & name )

virtual

Remove a camera group.

Parameters

name	[in] the name of the group.

◆ removeCameraGroup() [2/2]

virtual void removeCameraGroup ( rw::core::Ptr< rw::graphics::CameraGroup > cgroup )

virtual

Remove a camera group.

Parameters

cgroup [in] the group to remove.

◆ removeChild()

virtual bool removeChild	(	const std::string &	name,
		rw::graphics::GroupNode::Ptr	node
	)

virtual

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.

◆ removeDrawable() [1/3]

virtual bool removeDrawable ( const std::string & name )

virtual

Remove a specific drawable with a given name.

Parameters

name	[in] the name.

Returns: true if removed, false otherwise.

◆ removeDrawable() [2/3]

virtual bool removeDrawable ( rw::graphics::DrawableNode::Ptr drawable )

virtual

Remove a specific drawable.

Parameters

drawable [in] the drawable.

Returns: true if removed, false otherwise.

◆ removeDrawable() [3/3]

virtual bool removeDrawable	(	rw::graphics::DrawableNode::Ptr	drawable,
		rw::core::Ptr< rw::graphics::SceneNode >	node
	)

virtual

Remove a specific drawable.

Parameters

drawable	[in] the drawable.
node	[in] only search this node and children recursively.

Returns: true if removed, false otherwise.

◆ removeDrawables() [1/2]

virtual bool removeDrawables ( const std::string & name )

virtual

Remove all drawables with a given name.

Parameters

name	[in] the name.

Returns: true if removed, false otherwise.

◆ removeDrawables() [2/2]

virtual bool removeDrawables ( rw::graphics::GroupNode::Ptr node )

virtual

Remove a node.

Parameters

node	[in] the group node to remove.

Returns: true if removed, false otherwise.

◆ setRoot()

virtual void setRoot ( rw::graphics::GroupNode::Ptr node )

virtual

Set the root of the scene graph.

Parameters

node	[in] the root node.

◆ traverse() [1/4]

void traverse	(	rw::core::Ptr< rw::graphics::SceneNode > &	node,
		NodeVisitor &	visitor
	)

Traverse all nodes in the subtree under node recursively.

Parameters

node	[in] the root node.
visitor	[in] the visitor function to execute for each node visited.

◆ traverse() [2/4]

void traverse	(	rw::core::Ptr< rw::graphics::SceneNode > &	node,
		NodeVisitor &	visitor,
		const NodeFilter &	filter
	)

Traverse all nodes in the subtree under node recursively.

Parameters

node	[in] the root node.
visitor	[in] the visitor function to execute for each node visited.
filter	[in] filter which nodes to visit.

◆ traverse() [3/4]

void traverse	(	rw::core::Ptr< rw::graphics::SceneNode > &	node,
		NodeVisitor &	visitor,
		NodeVisitor &	postvisitor
	)

Traverse all nodes in the subtree under node recursively.

Parameters

node	[in] the root node.
visitor	[in] the visitor function to execute for each node visited.
postvisitor	[in] the visitor function to execute for each node visited afterwards.

◆ traverse() [4/4]

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.

Parameters

node	[in] the root node.
visitor	[in] the visitor function to execute for each node visited.
postvisitor	[in] the visitor function to execute for each node visited afterwards.
filter	[in] filter which nodes to visit.

◆ unproject()

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

pure 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,

Implemented in SceneOpenGL.

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

SceneGraph.hpp

Classes

Public Types

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ SceneGraph()

Member Function Documentation

◆ addCameraGroup()

◆ draw()

◆ findCameraGroup()

◆ findDrawable() [1/2]

◆ findDrawable() [2/2]

◆ findDrawables()

◆ getCameraGroups()

◆ getDrawables() [1/2]

◆ getDrawables() [2/2]

◆ getDrawablesRec()

◆ getRoot()

◆ 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()

◆ makeGroupNode()

◆ pickDrawable()

◆ project()

◆ removeCameraGroup() [1/2]

◆ removeCameraGroup() [2/2]

◆ removeChild()

◆ removeDrawable() [1/3]

◆ removeDrawable() [2/3]

◆ removeDrawable() [3/3]

◆ removeDrawables() [1/2]

◆ removeDrawables() [2/2]

◆ setRoot()

◆ traverse() [1/4]

◆ traverse() [2/4]

◆ traverse() [3/4]

◆ traverse() [4/4]

◆ unproject()