Package org.robwork.sdurw_graphics

Class SceneViewer

java.lang.Object

org.robwork.sdurw_graphics.SceneViewer

public class SceneViewer
extends java.lang.Object

interface for viewing a scene graph.

The scene graph viewer

Nested Class Summary

Nested Classes

Modifier and Type	Class	Description
static class	SceneViewer.View

Constructor Summary

Constructors

Constructor	Description
SceneViewer(long cPtr, boolean cMemoryOwn)

Method Summary

Modifier and Type	Method	Description
void	autoZoom()	Automatically fits all frames inside the viewport by moving camera in its z-axis.
SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t	createView(java.lang.String name)	Create a new view.
SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t	createView(java.lang.String name, boolean enableBackground)	Create a new view.
void	delete()
void	destroyView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)	Destroy view.
static long	getCPtr(SceneViewer obj)
SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t	getCurrentView()	Get the currently selected view.
java.lang.String	getLogo()	get the logo that is displayed in the 3d scene
SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t	getMainView()	Get the main view.
PropertyMap	getPropertyMap()	get propertymap
SceneGraphPtr	getScene()	get the current scene graph
Transform3D	getTransform()	get the current rotation of the view
SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneCamera_t	getViewCamera()	Get the view camera.
Vector3D	getViewCenter()	Get the view center.
SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__graphics__SceneViewer__View_t_t	getViews()	Get all views.
GroupNodePtr	getWorldNode()	Get the world node.
DrawableNodePtr	pickDrawable(int x, int y)	picks the drawable in the scene that intersects with the ray (x,y,-1) in camera coordinates.
DrawableNodePtr	pickDrawable(SceneGraph.SceneGraphRenderInfo info, int x, int y)	&,int,int)
void	renderView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)	Render a view.
void	saveBufferToFile(java.lang.String filename, int fillR, int fillG, int fillB)	Saves the current 3D view to disk as either jpg, bmp or png. If failing a std::string is thrown with a detailed description of what when wrong.
void	selectView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)	Select a view.
void	setLogo(java.lang.String string)	set the logo that is displayed in the 3d scene
void	setTransform(Transform3D t3d)	set the orientation of the view.
void	setWorkCellScene(WorkCellScenePtr wcscene)	Set the WorkCell scene.
void	setWorldNode(GroupNodePtr wnode)	Set the world group node.
void	updateState(State state)	Set a new state.
void	updateView()	Update the view.
void	zoom(double amount)	Move the camera along its z-axis.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

SceneViewer

public SceneViewer(long cPtr,
                   boolean cMemoryOwn)

Method Detail

getCPtr

public static long getCPtr(SceneViewer obj)

delete

public void delete()

getScene

public SceneGraphPtr getScene()

get the current scene graph

getLogo

public java.lang.String getLogo()

get the logo that is displayed in the 3d scene

setLogo

public void setLogo(java.lang.String string)

set the logo that is displayed in the 3d scene

getPropertyMap

public PropertyMap getPropertyMap()

get propertymap

updateView

public void updateView()

Update the view.

updateState

public void updateState(State state)

Set a new state.

Parameters:

state - [in] new state.

setWorldNode

public void setWorldNode(GroupNodePtr wnode)

Set the world group node.

Parameters:

wnode - [in] the world node.

setWorkCellScene

public void setWorkCellScene(WorkCellScenePtr wcscene)

Set the WorkCell scene.

Parameters:

wcscene - [in] the workcell scene.

getWorldNode

public GroupNodePtr getWorldNode()

Get the world node.

Returns:

the world node.

saveBufferToFile

public void saveBufferToFile(java.lang.String filename,
                             int fillR,
                             int fillG,
                             int fillB)

Saves the current 3D view to disk as either jpg, bmp or png.

If failing a std::string is thrown with a detailed description of what
when wrong.

Parameters:

filename - [in] Path and name of the file. The filename extension
should be either ".jpg", ".bmp" or ".png" to specify which format to use.

fillR - [in] Fill color if viewport is smaller than image, red component [0,255]

fillG - [in] Fill color if viewport is smaller than image, green component [0,255]

fillB - [in] Fill color if viewport is smaller than image, blue component [0,255]

getViewCamera

public SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneCamera_t getViewCamera()

Get the view camera.

Returns:

a scene camera.

getViewCenter

public Vector3D getViewCenter()

Get the view center.

Returns:

the center.

pickDrawable

public DrawableNodePtr pickDrawable(int x,
                                    int y)

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

Parameters:

x - [in] first camera coordinate.

y - [in] second camera coordinate.

Returns:

the picked drawable.

pickDrawable

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

&,int,int)

createView

public SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t createView(java.lang.String name,
                                                                              boolean enableBackground)

Create a new view.

Parameters:

name - [in] name of view.

enableBackground - [in] (optional) enable the background. Default is false.

Returns:

the new view.

createView

public SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t createView(java.lang.String name)

Create a new view.

Parameters:

name - [in] name of view.

Returns:

the new view.

getMainView

public SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t getMainView()

Get the main view.

Returns:

main view.

destroyView

public void destroyView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)

Destroy view.

Parameters:

view - [in] the view to destroy.

selectView

public void selectView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)

Select a view.

Parameters:

view - [in] the view to select.

getCurrentView

public SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t getCurrentView()

Get the currently selected view.

Returns:

the view.

getViews

public SWIGTYPE_p_std__vectorT_rw__core__PtrT_rw__graphics__SceneViewer__View_t_t getViews()

Get all views.

Returns:

the views.

renderView

public void renderView(SWIGTYPE_p_rw__core__PtrT_rw__graphics__SceneViewer__View_t view)

Render a view.

Parameters:

view - [in] the view to render

setTransform

public void setTransform(Transform3D t3d)

set the orientation of the view. The view will look in the
positive direction of the z-axis, with x-axis as the width and
the y-axis as the height. Origin of view is in the center of the
image.

Parameters:

t3d - [in] transform relative to world

getTransform

public Transform3D getTransform()

get the current rotation of the view

Returns:

orientation of the view

zoom

public void zoom(double amount)

Move the camera along its z-axis.

Parameters:

amount - [in] the amount of zoom.

autoZoom

public void autoZoom()

Automatically fits all frames inside the viewport by moving camera in its z-axis.