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

#include <DrawableGeometry.hpp>

Public Types
typedef rw::core::Ptr< DrawableGeometry >	Ptr
	smart pointer type to this class

Public Types inherited from DrawableGeometryNode
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
	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)
	add lines to this geometry More...

void	addLine (const rw::math::Vector3D<> &v1, const rw::math::Vector3D<> &v2)
	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::Transform3D &	getTransform () 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...

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 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);

rw::graphics::DrawableNode::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
	)

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 )

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:

DrawableGeometry.hpp

Public Types

Public Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ DrawableGeometry()

Member Function Documentation

◆ addFrameAxis()

◆ addGeometry()

◆ addLine()

◆ addLines()

◆ draw()

◆ getAlpha()

◆ getColor()

◆ getMask()

◆ getScale()

◆ getTransform()

◆ getTransparency()

◆ isHighlighted()

◆ isVisible()

◆ setAlpha()

◆ setColor() [1/2]

◆ setColor() [2/2]

◆ setDrawType()

◆ setHighlighted()

◆ setMask()

◆ setScale()

◆ setTransform()

◆ setTransparency()

◆ setVisible()