Package org.robwork.sdurw_graphics

Class WorkCellScenePtr

  • public class WorkCellScenePtr
extends java.lang.Object
    Ptr stores a pointer and optionally takes ownership of the value.

    • Constructor Detail

      • WorkCellScenePtr

        public WorkCellScenePtr​(long cPtr,
                        boolean cMemoryOwn)

      • WorkCellScenePtr

        public WorkCellScenePtr()
        Default constructor yielding a NULL-pointer.

      • WorkCellScenePtr

        public WorkCellScenePtr​(WorkCellScene ptr)
        Do not take ownership of ptr.

        ptr can be null.

        The constructor is implicit on purpose.

    • Method Detail

      • delete

        public void delete()

      • deref

        public WorkCellScene deref()
        The pointer stored in the object.

      • __ref__

        public WorkCellScene __ref__()
        Dereferencing operator.

      • getDeref

        public WorkCellScene getDeref()
        Member access operator.

      • isShared

        public boolean isShared()
        check if this Ptr has shared ownership or none
        ownership
        Returns:
        true if Ptr has shared ownership, false if it has no ownership.

      • isNull

        public boolean isNull()
        checks if the pointer is null
        Returns:
        Returns true if the pointer is null

      • draw

        public void draw​(SceneGraph.SceneGraphRenderInfo info)
        renders the complete scene using the settings in info.

        This basically forwards the call to SceneGraph::draw

        Parameters:
        info - [in] render settings

      • setWorkCell

        public void setWorkCell​(WorkCellPtr wc)
        set the workcell to render
        Parameters:
        wc - [in] the workcell that is to be rendered

      • getWorkCell

        public WorkCellPtr getWorkCell()
        get the workcell that is currently being rendered.

      • setState

        public void setState​(State state)
        state changes are updated by calling this method. That includes
        transformations between frames, joints and stuff.
        Parameters:
        state - [in] the new state that is to be rendered

      • getWorldNode

        public GroupNodePtr getWorldNode()
        gets the node of the scene graph that maps to the world frame
        of the workcell.
        Returns:
        scene node

      • updateSceneGraph

        public void updateSceneGraph​(State state)
        updates the state of the scenegraph to that of state
        Parameters:
        state -

      • clearCache

        public void clearCache()
        any cached drawables or scene nodes are deleted

      • setVisible

        public void setVisible​(boolean visible,
                       FramePtr f)
        sets the visibility of a frame and its drawables.
        Parameters:
        f - [in] the frame.
        visible - [in] true if frame should be visible, false otherwise

      • isVisible

        public boolean isVisible​(FramePtr f)
        test if a frame is visible or not
        Parameters:
        f - [in] the frame
        Returns:
        true if frame is visible, false if not

      • setHighlighted

        public void setHighlighted​(boolean highlighted,
                           FramePtr f)
        sets a frame to be highlighted or not.
        Parameters:
        f - [in] the frame.
        highlighted - [in] true if frame should be highlighted, false otherwise

      • isHighlighted

        public boolean isHighlighted​(FramePtr f)
        test if a frame is highlighted or not
        Parameters:
        f - [in] the frame
        Returns:
        true if frame is highlighted, false if not

      • setFrameAxisVisible

        public void setFrameAxisVisible​(boolean visible,
                                FramePtr f,
                                double size)
        enables the drawing of the frame-axis of a frame.
        Parameters:
        visible - [in] true if frame axis should be drawn, false otherwise
        f - [in] the frame
        size - [in] size of the frame-axis (default = 0.25)

      • setFrameAxisVisible

        public void setFrameAxisVisible​(boolean visible,
                                FramePtr f)
        enables the drawing of the frame-axis of a frame.
        Parameters:
        visible - [in] true if frame axis should be drawn, false otherwise
        f - [in] the frame

      • isFrameAxisVisible

        public boolean isFrameAxisVisible​(FramePtr f)
        test if frame-axis is visible
        Parameters:
        f - [in] the frame
        Returns:
        true if frame axis of frame is set to be drawn, false otherwise

      • setFrameLabelVisible

        public void setFrameLabelVisible​(boolean visible,
                                 FramePtr f)
        enables the drawing of the frame label of a frame.
        Parameters:
        visible - [in] true if frame label should be drawn, false otherwise
        f - [in] the frame

      • isFrameLabelVisible

        public boolean isFrameLabelVisible​(FramePtr f)
        test if frame-label is visible
        Parameters:
        f - [in] the frame
        Returns:
        true if frame label of frame is set to be drawn, false otherwise

      • setDrawType

        public void setDrawType​(DrawableNode.DrawType type,
                        FramePtr f)
        set how drawables of a specific frame should be rendered
        Parameters:
        type - [in] the drawtype
        f - [in] the Frame

      • getDrawType

        public DrawableNode.DrawType getDrawType​(FramePtr f)
        get how drawables of a specific frame is to be rendered
        Parameters:
        f - [in] the Frame
        Returns:
        the drawtype

      • setDrawMask

        public void setDrawMask​(long mask,
                        FramePtr f)
        set the draw mask of the drawables of a specific frame
        Parameters:
        mask - [in] draw mask
        f - [in] the frame

      • getDrawMask

        public long getDrawMask​(FramePtr f)
        get the draw mask of the drawables of a specific frame
        Parameters:
        f - [in] the frame
        Returns:
        the drawmask

      • setTransparency

        public void setTransparency​(double alpha,
                            FramePtr f)
        set drawables of a frame to be translusent
        Parameters:
        alpha - [in] range [0-1] where 1 is fully opaque and 0 is folly transparent
        f - [in] frame

      • addLines

        public DrawableGeometryNodePtr addLines​(java.lang.String name,
                                        VectorLine lines,
                                        FramePtr frame,
                                        int dmask)
        create and add a drawable geometry node of line geometry to the scene
        Parameters:
        name - [in] name of drawable node
        lines - [in] the line geometry
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node geometry

      • addLines

        public DrawableGeometryNodePtr addLines​(java.lang.String name,
                                        VectorLine lines,
                                        FramePtr frame)
        create and add a drawable geometry node of line geometry to the scene
        Parameters:
        name - [in] name of drawable node
        lines - [in] the line geometry
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node geometry

      • addGeometry

        public DrawableGeometryNodePtr addGeometry​(java.lang.String name,
                                           GeometryPtr geom,
                                           FramePtr frame,
                                           int dmask)
        create and add a drawable geometry node of any type of geometry to the scene
        Parameters:
        name - [in] name of drawable node
        geom - [in] the geometry
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node geometry

      • addGeometry

        public DrawableGeometryNodePtr addGeometry​(java.lang.String name,
                                           GeometryPtr geom,
                                           FramePtr frame)
        create and add a drawable geometry node of any type of geometry to the scene
        Parameters:
        name - [in] name of drawable node
        geom - [in] the geometry
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node geometry

      • addFrameAxis

        public DrawableNodePtr addFrameAxis​(java.lang.String name,
                                    double size,
                                    FramePtr frame,
                                    int dmask)
        create and add a drawable node of a frame axis to the scene
        Parameters:
        name - [in] name of drawable node
        size - [in] the length of the axis arrows in meters
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node geometry

      • addFrameAxis

        public DrawableNodePtr addFrameAxis​(java.lang.String name,
                                    double size,
                                    FramePtr frame)
        create and add a drawable node of a frame axis to the scene
        Parameters:
        name - [in] name of drawable node
        size - [in] the length of the axis arrows in meters
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node geometry

      • addModel3D

        public DrawableNodePtr addModel3D​(java.lang.String name,
                                  Model3DPtr model,
                                  FramePtr frame,
                                  int dmask)
        create and add a drawable node of a model3d to the scene
        Parameters:
        name - [in] name of drawable node
        model - [in] the model3d
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node geometry

      • addModel3D

        public DrawableNodePtr addModel3D​(java.lang.String name,
                                  Model3DPtr model,
                                  FramePtr frame)
        create and add a drawable node of a model3d to the scene
        Parameters:
        name - [in] name of drawable node
        model - [in] the model3d
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node geometry

      • addImage

        public DrawableNodePtr addImage​(java.lang.String name,
                                Image img,
                                FramePtr frame,
                                int dmask)
        create and add a drawable node of an image to the scene
        Parameters:
        name - [in] name of drawable node
        img - [in] the image
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node geometry
        Note: the size of the image in the scene will be pixel/cm. To change this please use
        scale.

      • addImage

        public DrawableNodePtr addImage​(java.lang.String name,
                                Image img,
                                FramePtr frame)
        create and add a drawable node of an image to the scene
        Parameters:
        name - [in] name of drawable node
        img - [in] the image
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node geometry
        Note: the size of the image in the scene will be pixel/cm. To change this please use
        scale.

      • addScan

        public DrawableNodePtr addScan​(java.lang.String name,
                               PointCloud scan,
                               FramePtr frame,
                               int dmask)
        create and add a drawable node of a scan to the scene
        Parameters:
        name - [in] name of drawable node
        scan - [in] the scan
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node

      • addScan

        public DrawableNodePtr addScan​(java.lang.String name,
                               PointCloud scan,
                               FramePtr frame)
        create and add a drawable node of a scan to the scene
        Parameters:
        name - [in] name of drawable node
        scan - [in] the scan
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node

      • addText

        public DrawableNodePtr addText​(java.lang.String name,
                               java.lang.String text,
                               FramePtr frame,
                               int dmask)
        create and add a drawable node of a textlabel
        Parameters:
        name - [in] name of drawable node
        text - [in] the label text
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node

      • addText

        public DrawableNodePtr addText​(java.lang.String name,
                               java.lang.String text,
                               FramePtr frame)
        create and add a drawable node of a textlabel
        Parameters:
        name - [in] name of drawable node
        text - [in] the label text
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node

      • addRender

        public DrawableNodePtr addRender​(java.lang.String name,
                                 RenderPtr render,
                                 FramePtr frame,
                                 int dmask)
        create and add a drawable node of a render, to the scene
        Parameters:
        name - [in] name of drawable node
        render - [in] the render
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node

      • addRender

        public DrawableNodePtr addRender​(java.lang.String name,
                                 RenderPtr render,
                                 FramePtr frame)
        create and add a drawable node of a render, to the scene
        Parameters:
        name - [in] name of drawable node
        render - [in] the render
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node

      • addDrawable

        public DrawableNodePtr addDrawable​(java.lang.String filename,
                                   FramePtr frame,
                                   int dmask)
        create and add a drawable node from a filename to the scene
        Parameters:
        filename - [in] name of drawable node
        frame - [in] the frame where the drawable is to be placed
        dmask - [in] the drawable mask
        Returns:
        the drawable node

      • addDrawable

        public DrawableNodePtr addDrawable​(java.lang.String filename,
                                   FramePtr frame)
        create and add a drawable node from a filename to the scene
        Parameters:
        filename - [in] name of drawable node
        frame - [in] the frame where the drawable is to be placed

        Returns:
        the drawable node

      • addDrawable

        public void addDrawable​(DrawableNodePtr drawable,
                        FramePtr frame)
        add a drawable node to the scene
        Parameters:
        drawable - [in] the drawable
        frame - [in] the frame where the drawable is to be placed

      • findDrawable

        public DrawableNodePtr findDrawable​(java.lang.String name)
        find a drawable by name name.
        Parameters:
        name - [in] the name of the drawable
        Returns:
        a drawable with name name or NULL if no such drawable exist in the scene

      • findDrawable

        public DrawableNodePtr findDrawable​(java.lang.String name,
                                    FramePtr frame)
        find a drawable by name name that is attached to frame frame
        Parameters:
        name - [in] the name of the drawable
        frame - [in] search only the subtree beginning from this frame.
        Returns:
        a drawable with name name or NULL if no such drawable exist in the scene

      • removeDrawables

        public boolean removeDrawables​(FramePtr f)
        remove all drawables on a frame
        Parameters:
        f - [in] the frame
        Returns:
        true if successfull

      • removeDrawables

        public boolean removeDrawables​(java.lang.String name)
        remove all drawables with name
        name
        Parameters:
        name - [in] the name
        Returns:
        true if successfull

      • removeDrawable

        public boolean removeDrawable​(DrawableNodePtr drawable)
        remove a drawable from the scene
        Parameters:
        drawable - [in] the drawable
        Returns:
        true if successfull

      • removeDrawable

        public boolean removeDrawable​(DrawableNodePtr drawable,
                              FramePtr f)
        remove a drawable from a specific frame
        Parameters:
        drawable - [in] the drawable
        f - [in] the frame
        Returns:
        true if successfull

      • removeDrawable

        public boolean removeDrawable​(java.lang.String name)
        remove first drawable by name name
        Parameters:
        name - [in] the name
        Returns:
        true if successfull

      • removeDrawable

        public boolean removeDrawable​(java.lang.String name,
                              FramePtr f)
        remove drawable by name
        and which is attached to frame f
        Parameters:
        name - [in] name of drawable
        f - [in] the frame
        Returns:
        true if successfull

      • getFrame

        public Frame getFrame​(DrawableNodePtr d)
        get the frame that a specific drawable d is associated to
        Parameters:
        d - [in] the drawable
        Returns:
        the first frame that the drawable is associated to, or NULL if there are no
        associations

      • getNode

        public GroupNodePtr getNode​(FramePtr frame)
        Get the GroupNode corresponding to the given frame.
        Parameters:
        frame - [in] the frame.
        Returns:
        group node.