Private()
: sensorCam1(0), sensorCam2(0)
{
// left view
picksepLeft = new SoSeparator;
picksepLeft->ref();
// right view
picksepRight = new SoSeparator;
picksepRight->ref();
}
int main(int, char **argv)
{
// Initialize Inventor. This returns a main window to use.
// If unsuccessful, exit.
HWND myWindow = SoWin::init("A red cone."); // pass the app name
if (myWindow == NULL) exit(1);
// Make a scene containing a red cone
SoSeparator *root = new SoSeparator;
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoMaterial *myMaterial = new SoMaterial;
root->ref();
root->addChild(myCamera);
root->addChild(new SoDirectionalLight);
myMaterial->diffuseColor.setValue(1.0, 1.0, 0.0); // Red
root->addChild(myMaterial);
root->addChild(new SoCone);
// Create a renderArea in which to see our scene graph.
// The render area will appear within the main window.
SoWinExaminerViewer *myRenderArea = new SoWinExaminerViewer(myWindow);
// Make myCamera see everything.
myCamera->viewAll(root, myRenderArea->getViewportRegion());
// Put our scene in myRenderArea, change the title
myRenderArea->setSceneGraph(root);
myRenderArea->setTitle("A red cone");
myRenderArea->show();
SoWin::show(myWindow); // Display main window
SoWin::mainLoop(); // Main Inventor event loop
delete myRenderArea;
root->unref();
return 0;
}
// the MAIN function
int main(int argc, char ** argv)
{
Widget mainWindow = SoXt::init(argv[0]);
if (mainWindow == NULL) exit(1);
SoSeparator *root;
root = new SoSeparator;
root->ref();
player.camera = new SoPerspectiveCamera;
root->addChild(player.camera);
root->addChild(createScene()) ;
//player.camera->viewAll(root, myRenderArea->getViewportRegion());
player.camera->position=SbVec3f(0, 5, 20);
player.camera->orientation=SbRotation(-0.1, 0, 0, 1);
player.camera->nearDistance=1;
player.camera->farDistance=150;
player.camera->heightAngle=0.5;
//view the whole scene
// initialize scenemanager instance
SoXtRenderArea *myRenderArea = new SoXtRenderArea(mainWindow);
myRenderArea->setSceneGraph(root);
myRenderArea->setTitle("Bouncing Ball");
myRenderArea->show();
SoXt::show(mainWindow);
SoXt::mainLoop();
return 0;
}
SoSeparator *ReadScene(const char *Dir, const char *filename) {
FILE *filePtr = NULL;
SoSeparator *root;
SoInput in;
in.addDirectoryLast(Dir);
if (!in.openFile(filename)) {
cerr << "Error opening file " << filename << " from Directory " << Dir
<< endl;
exit(1);
}
root = SoDB::readAll(&in);
if (root == NULL)
cerr << "Error reading file " << filename << " from Directory " << Dir
<< endl;
else {
#ifdef DEBUG
cerr << "Scene (" << filename << ") read!\n";
#endif
root->ref();
}
in.closeFile();
return root;
}
int QilexDoc::doc_new_kinematic_hand(ct_new_kinematic_chain *data)
{
int error = 0;
int tipus = 0;
void * buffer ; //char *buffer;
char *buftemp = (char*)malloc(1024);
SoOutput out;
size_t sizeModel = 0;
SoSeparator *kinechain = new SoSeparator;
SoSeparator *kinetest = new SoSeparator;
Rchain_hand *kineengine = new Rchain_hand();
SoTransform *pos_rot = new SoTransform;
SbVec3f joinax;
joinax.setValue(SbVec3f(data->x,data->y,data->z));
pos_rot->translation.setValue(joinax);
pos_rot->rotation.setValue(SbVec3f(data->axeX, data->axeY, data->axeZ), (float) rad((double) data->angle));
kinechain = readFile(data->QsModelFile.latin1(), tipus);
if (kinechain == NULL) // no object read
{ return 1; }
else // ok, there's no object with the same name
{
error = kineengine->init_dat(data->QsDatFile.latin1()); //
if (error == 0)
{
kinechain->ref();
kinetest = (SoSeparator*)SoNode::getByName(data->QsName.latin1());
if (kinetest==NULL)
{
//we need to put it in a buffer to write the xml file
// if is Ok
SoOutput out;
out.setBuffer(buftemp, 1024, reallocCB);
SoWriteAction wa1(&out);
wa1.apply(kinechain);
out.getBuffer(buffer, sizeModel);
kinechain->insertChild(pos_rot, 0);
}
error = doc_insert_kinematic_hand(kineengine, kinechain);
}
}
if (error==0)
{
writeXML_kineelement((char *)buffer, sizeModel, tipus, data, kineengine);
}
return error;
}
int main(int, char **argv)
{
// Initialize Inventor. This returns a main window to use.
// If unsuccessful, exit.
HWND myWindow = SoWin::init("A red cone."); // pass the app name
if (myWindow == NULL) exit(1);
// Make a scene containing a red cone
SoSeparator *root = new SoSeparator;
root->ref();
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
root->addChild(myMaterial);
root->addChild(new SoCone);
// Set up viewer:
SoWinExaminerViewer *myViewer =new SoWinExaminerViewer(myWindow);
myViewer->setSceneGraph(root);
myViewer->setTitle("Examiner Viewer");
myViewer->show();
SoWin::show(myWindow); // Display main window
SoWin::mainLoop(); // Main Inventor event loop
root->unref();
return 0;
}
bool isVisibleFace(int faceIndex, const SbVec2f& pos, Gui::View3DInventorViewer* viewer)
{
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(vp->getRoot());
SoSearchAction searchAction;
searchAction.setType(PartGui::SoBrepFaceSet::getClassTypeId());
searchAction.setInterest(SoSearchAction::FIRST);
searchAction.apply(root);
SoPath* selectionPath = searchAction.getPath();
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setNormalizedPoint(pos);
rp.apply(selectionPath);
root->unref();
SoPickedPoint* pick = rp.getPickedPoint();
if (pick) {
const SoDetail* detail = pick->getDetail();
if (detail && detail->isOfType(SoFaceDetail::getClassTypeId())) {
int index = static_cast<const SoFaceDetail*>(detail)->getPartIndex();
if (faceIndex != index)
return false;
SbVec3f dir = viewer->getViewDirection();
const SbVec3f& nor = pick->getNormal();
if (dir.dot(nor) > 0)
return false; // bottom side points to user
return true;
}
}
return false;
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec2s& pos, const View3DInventorViewer* viewer) const
{
//first get the path to this node and calculate the current transformation
SoSearchAction sa;
sa.setNode(pcRoot);
sa.setSearchingAll(true);
sa.apply(viewer->getSoRenderManager()->getSceneGraph());
if (!sa.getPath())
return nullptr;
SoGetMatrixAction gm(viewer->getSoRenderManager()->getViewportRegion());
gm.apply(sa.getPath());
SoTransform* trans = new SoTransform;
trans->setMatrix(gm.getMatrix());
trans->ref();
// build a temporary scenegraph only keeping this viewproviders nodes and the accumulated
// transformation
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(trans);
root->addChild(pcRoot);
//get the picked point
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setPoint(pos);
rp.setRadius(viewer->getPickRadius());
rp.apply(root);
root->unref();
trans->unref();
SoPickedPoint* pick = rp.getPickedPoint();
return (pick ? new SoPickedPoint(*pick) : 0);
}
void
vpSimulator::initSceneGraph()
{
this->scene = new SoSeparator;
this->internalRoot = new SoSeparator;
this->externalRoot = new SoSeparator;
this->scene->ref();
this->internalRoot->ref();
this->externalRoot->ref();
// define the camera SoPerspectiveCamera
this->internalCamera = new SoPerspectiveCamera ;
this->externalCamera = new SoPerspectiveCamera ;
this->internalCameraPosition = new SoTransform;
this->internalCameraObject = createCameraObject(zoomFactor);
internalCamera->farDistance.setValue(100);
internalCamera->nearDistance.setValue(0.0001f);
// link between camera and internal root
this->internalRoot->addChild (this->internalCamera);
this->internalRoot->addChild (this->scene);
this->externalRoot->addChild (this->externalCamera);
this->externalRoot->addChild (this->scene);
SoSeparator * camera = new SoSeparator;
camera->ref();
camera->addChild (this->internalCameraPosition);
camera->addChild (this->internalCameraObject);
this->externalRoot->addChild (camera);
//this->externalRoot->addChild (internalCameraPosition);
// this->externalRoot->addChild (internalCameraObject);
SoCube *cube = new SoCube ;
cube->width=0.01f ;
cube->depth=0.01f ;
cube->height=0.01f ;
this->externalRoot->addChild (cube);
if (realtime==NULL)
{
SoDB::enableRealTimeSensor(FALSE);
SoSceneManager::enableRealTimeUpdate(FALSE);
realtime = (SbTime *) SoDB::getGlobalField("realTime");
realtime->setValue(0.0);
}
}
/* Cree une fleche composee d'un cylindre et d'un cone.
* La fleche a une hauteur total de <longueur>, dont
* <proportionFleche>% pour la fleche. Le rayon du cylindre
* est <radius>, et celui de la fleche <radius> * 5.
* La fleche est oriente selon l'axe Y.
*/
static SoSeparator *
createArrow (float longueur,
float proportionFleche,
float radius)
{
SoSeparator *fleche = new SoSeparator;
fleche->ref();
SoTranslation *poseCylindre = new SoTranslation;
SoCylinder *line = new SoCylinder;
SoTranslation *posePointe = new SoTranslation;
SoCone *pointe = new SoCone;
float l_cylindre = longueur * ( 1 - proportionFleche);
float l_cone = longueur * proportionFleche;
float radius_cylindre = radius;
float radius_cone = radius * 5;
line->radius.setValue (radius_cylindre);
line->height.setValue (l_cylindre);
poseCylindre->translation.setValue (0, l_cylindre / 2, 0);
posePointe->translation.setValue (0.0, l_cylindre / 2 + l_cone / 2, 0);
pointe->bottomRadius.setValue (radius_cone);
pointe->height.setValue (l_cone);
fleche->addChild (poseCylindre);
fleche->addChild (line);
fleche->addChild (posePointe);
fleche->addChild (pointe);
return fleche;
}
int main(int argc, char** argv)
{
QWidget* mainwin = SoQt::init(argc, argv, argv[0]);
SoSeparator* root = new SoSeparator;
root->ref();
InventorRobot robot(root);
if (argc == 1){
//robot.parse("../RobotEditorArmar4.dae");
//robot.parse("/media/sf_host/manikin_creo_4.dae");
std::cout << "Usage collada <collada file> [<inventor export>]" <<std::endl;
return 1;
}
else {
robot.parse(argv[1]);
if (argc==3){
SoWriteAction writeAction;
writeAction.getOutput()->openFile(argv[2]);
writeAction.apply(root);
}
}
SoQtExaminerViewer* viewer = new SoQtExaminerViewer(mainwin);
viewer->setSceneGraph(root);
viewer->show();
// Pop up the main window.
SoQt::show(mainwin);
// Loop until exit.
SoQt::mainLoop();
root->unref();
return 1;
}
int
WinMain(HINSTANCE hInstance, HINSTANCE hPrevInstance, LPSTR lpCmdLine,
int nCmdShow)
{
#else // UNIX
int
main(int argc, char ** argv)
{
#endif
// initialize Coin and glut libraries
SoDB::init();
#ifdef _WIN32
int argc = 1;
char * argv[] = { "glutiv.exe", (char *) NULL };
glutInit(&argc, argv);
#else
glutInit(&argc, argv);
#endif
glutInitDisplayMode(GLUT_DOUBLE | GLUT_RGB | GLUT_DEPTH);
SoSeparator * root;
root = new SoSeparator;
root->ref();
SoPerspectiveCamera * camera = new SoPerspectiveCamera;
root->addChild(camera);
root->addChild(new SoDirectionalLight);
root->addChild(createScenegraph());
scenemanager = new SoSceneManager;
scenemanager->setRenderCallback(redraw_cb, (void *)1);
scenemanager->setBackgroundColor(SbColor(0.2f, 0.2f, 0.2f));
scenemanager->activate();
camera->viewAll(root, scenemanager->getViewportRegion());
scenemanager->setSceneGraph(root);
glutInitWindowSize(512, 400);
SbString title("Offscreen Rendering");
glutwin = glutCreateWindow(title.getString());
glutDisplayFunc(expose_cb);
glutReshapeFunc(reshape_cb);
// start main loop processing (with an idle callback)
glutIdleFunc(idle_cb);
glutMainLoop();
root->unref();
delete scenemanager;
return 0;
}
SoSeparator *
createCameraObject (const float zoomFactor = 1.0)
{
vpDEBUG_TRACE (15, "# Entree.");
SoSeparator * cam = new SoSeparator;
cam->ref ();
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
myMaterial->emissiveColor.setValue(0.5, 0.0, 0.0);
SoScale *taille = new SoScale;
{
float zoom = 0.1f * zoomFactor;
taille->scaleFactor.setValue (zoom, zoom, zoom);
}
SoMaterial *couleurBlanc = new SoMaterial;
couleurBlanc->diffuseColor.setValue(1.0, 1.0, 1.0);
couleurBlanc->emissiveColor.setValue(1.0, 1.0, 1.0);
SoDrawStyle * filDeFer = new SoDrawStyle;
filDeFer->style.setValue (SoDrawStyle::LINES);
filDeFer->lineWidth.setValue (1);
SoSeparator * cone = new SoSeparator;
cone->ref();
cone->addChild (makePyramide());
cone->addChild (couleurBlanc);
cone->addChild (filDeFer);
cone->addChild (makePyramide());
cone->unrefNoDelete();
cam->addChild(myMaterial);
cam->addChild(taille);
cam->addChild(cone);
cam->addChild(createFrame(2.0f,0.1f,0.01f));
// cam->unref() ;
vpDEBUG_TRACE (15, "# Sortie.");
return cam;
}
SoSeparator * HandObjectState::copyHandStateIV(){
SoSeparator * graspIVRoot = new SoSeparator();
//FIXME -- is this necesary?
graspIVRoot->ref();
SoNode * handIVRoot = mHand->getIVRoot()->copy(1);
SoNode * objectIVRoot = mTargetObject->getIVRoot()->copy(1);
graspIVRoot->addChild(handIVRoot);
graspIVRoot->addChild(objectIVRoot);
return graspIVRoot;
}
int main()
{
SoSeparator *root = new SoSeparator;
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoMaterial *myMaterial = new SoMaterial;
root->ref();
root->addChild(myCamera);
root->addChild(new SoDirectionalLight);
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0);
root->addChild(myMaterial);
root->addChild(new SoCone);
}
SoSeparator* IVElement::ivModel(bool tran) {
if(tran){
SoSeparator* temp = new SoSeparator;
temp->ref();
temp->addChild(color);
temp->addChild(trans);
temp->addChild(rot);
temp->addChild(ivmodel);
return temp;
}else
return ivmodel;
}
bool CoinRrtWorkspaceVisualization::addConfiguration( const Eigen::VectorXf &c, CoinRrtWorkspaceVisualization::ColorSet colorSet, float nodeSizeFactor )
{
if (c.rows() != robotNodeSet->getSize())
{
VR_ERROR << " Dimensions do not match: " << c.rows() <<"!="<< robotNodeSet->getSize() << endl;
return false;
}
if (!TCPNode)
return false;
float nodeSolutionSize = pathNodeSize*nodeSizeFactor;//15.0;//1.0f
SoMaterial *materialNodeSolution = new SoMaterial();
materialNodeSolution->ambientColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
materialNodeSolution->diffuseColor.setValue(colors[colorSet].nodeR,colors[colorSet].nodeG,colors[colorSet].nodeB);
SoSphere *sphereNodeSolution = new SoSphere();
sphereNodeSolution->radius.setValue(nodeSolutionSize);
Eigen::VectorXf actConfig;
float x,y,z;
float x2 = 0.0f,y2 = 0.0f,z2 = 0.0f;
SoSeparator *sep = new SoSeparator();
sep->ref();
SoUnits *u = new SoUnits;
u->units = SoUnits::MILLIMETERS;
sep->addChild(u);
// create 3D model for nodes
SoSeparator *s = new SoSeparator();
s->addChild(materialNodeSolution);
SoTranslation *t = new SoTranslation();
// get tcp coords:
robot->setJointValues(robotNodeSet,c);
Eigen::Matrix4f m;
m = TCPNode->getGlobalPose();
x = m(0,3);
y = m(1,3);
z = m(2,3);
t->translation.setValue(x,y,z);
s->addChild(t);
// display a solution node different
s->addChild(sphereNodeSolution);
sep->addChild(s);
visualization->addChild(sep);
sep->unref();
return true;
}
/*!
Add the representation of a frame.
\param fMo : desired position of the frame
\param zoom : Zoom factor.
*/
void
vpSimulator::addFrame (const vpHomogeneousMatrix &fMo, float zoom)
{
SoScale *taille = new SoScale;
taille->scaleFactor.setValue (zoom, zoom, zoom);
SoSeparator * frame = new SoSeparator;
frame->ref();
frame->addChild(taille);
frame->addChild(createFrame (LONGUEUR_FLECHE*zoom, PROPORTION_FLECHE*zoom, RAYON_FLECHE*zoom));
this->addObject(frame, fMo, externalRoot) ;
// frame->unref();
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec2s& pos, const View3DInventorViewer* viewer) const
{
// for convenience make a pick ray action to get the (potentially) picked entity in the provider
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(pcRoot);
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setPoint(pos);
rp.apply(root);
root->unref();
SoPickedPoint* pick = rp.getPickedPoint();
return (pick ? new SoPickedPoint(*pick) : 0);
}
int
main(int argc, char ** argv)
{
QApplication app(argc, argv);
// Initializes Quarter (and implicitly also Coin and Qt
Quarter::init();
// Make a dead simple scene graph by using the Coin library, only
// containing a single yellow cone under the scenegraph root.
SoSeparator * root = new SoSeparator;
root->ref();
SoBaseColor * col = new SoBaseColor;
col->rgb = SbColor(1, 1, 0);
root->addChild(col);
root->addChild(new SoCone);
// Create a QuarterWidget for displaying a Coin scene graph
QuarterWidget * viewer = new QuarterWidget;
//set default navigation mode file
viewer->setNavigationModeFile();
viewer->setSceneGraph(root);
// Add some background text
SoSeparator * background = create_background();
(void)viewer->getSoRenderManager()->addSuperimposition(background,
SoRenderManager::Superimposition::BACKGROUND);
// Add some super imposed text
SoSeparator * superimposed = create_superimposition();
(void)viewer->getSoRenderManager()->addSuperimposition(superimposed);
// Pop up the QuarterWidget
viewer->show();
// Loop until exit.
app.exec();
// Clean up resources.
root->unref();
delete viewer;
Quarter::clean();
return 0;
}
SoNode* setupHeadUpDisplay(const QString& text) const
{
SoSeparator* hudRoot = new SoSeparator;
hudRoot->ref();
SoOrthographicCamera* hudCam = new SoOrthographicCamera();
hudCam->viewportMapping = SoCamera::LEAVE_ALONE;
// Set the position in the window.
// [0, 0] is in the center of the screen.
//
SoTranslation* hudTrans = new SoTranslation;
hudTrans->translation.setValue(-0.95f, -0.95f, 0.0f);
QFont font = this->font();
font.setPointSize(24);
QFontMetrics fm(font);
QColor front;
front.setRgbF(0.8f, 0.8f, 0.8f);
int w = fm.width(text);
int h = fm.height();
QImage image(w,h,QImage::Format_ARGB32_Premultiplied);
image.fill(0x00000000);
QPainter painter(&image);
painter.setRenderHint(QPainter::Antialiasing);
painter.setPen(front);
painter.setFont(font);
painter.drawText(0,0,w,h,Qt::AlignLeft,text);
painter.end();
SoSFImage sfimage;
Gui::BitmapFactory().convert(image, sfimage);
SoImage* hudImage = new SoImage();
hudImage->image = sfimage;
// Assemble the parts...
//
hudRoot->addChild(hudCam);
hudRoot->addChild(hudTrans);
hudRoot->addChild(hudImage);
return hudRoot;
}
SoPickedPoint* ViewProviderFace::getPickedPoint(const SbVec2s& pos, const SoQtViewer* viewer) const
{
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getHeadlight());
root->addChild(viewer->getCamera());
root->addChild(this->pcMeshPick);
SoRayPickAction rp(viewer->getViewportRegion());
rp.setPoint(pos);
rp.apply(root);
root->unref();
// returns a copy of the point
SoPickedPoint* pick = rp.getPickedPoint();
//return (pick ? pick->copy() : 0); // needs the same instance of CRT under MS Windows
return (pick ? new SoPickedPoint(*pick) : 0);
}
int main(int, char ** argv)
{
HWND window = SoWin::init("Oil Well");
if (window == NULL) exit(1);
SoWinExaminerViewer * viewer = new SoWinExaminerViewer(window);
viewer->setDecoration(false);
viewer->setSize(SbVec2s(800, 600));
SoSeparator *root = new SoSeparator;
root->ref();
SoSeparator *obelisk = new SoSeparator();
// Define the normals used:
SoNormal *myNormals = new SoNormal;
myNormals->vector.setValues(0, 8, norms);
obelisk->addChild(myNormals);
SoNormalBinding *myNormalBinding = new SoNormalBinding;
myNormalBinding->value = SoNormalBinding::PER_FACE;
obelisk->addChild(myNormalBinding);
// Define material for obelisk
SoMaterial *myMaterial = new SoMaterial;
myMaterial->diffuseColor.setValue(.4, .4, .4);
obelisk->addChild(myMaterial);
// Define coordinates for vertices
SoCoordinate3 *myCoords = new SoCoordinate3;
myCoords->point.setValues(0, 28, vertices);
obelisk->addChild(myCoords);
// Define the FaceSet
SoFaceSet *myFaceSet = new SoFaceSet;
myFaceSet->numVertices.setValues(0, 8, numvertices);
obelisk->addChild(myFaceSet);
root->addChild(obelisk);
viewer->setSceneGraph(root);
viewer->setTitle("Oil Well");
viewer->show();
SoWin::show(window);
SoWin::mainLoop();
delete viewer;
root->unref();
return 0;
}
// Routine to create a scene graph representing a dodecahedron
SoSeparator *
makePyramide()
{
SoSeparator *result = new SoSeparator;
result->ref();
// Define coordinates for vertices
SoCoordinate3 *myCoords = new SoCoordinate3;
myCoords->point.setValues(0, 5, pyramidVertexes);
result->addChild(myCoords);
// Define the IndexedFaceSet, with indices into the vertices:
SoIndexedFaceSet *myFaceSet = new SoIndexedFaceSet;
myFaceSet->coordIndex.setValues (0, 21, (const int32_t*)pyramidFaces);
result->addChild (myFaceSet);
result->unrefNoDelete();
return result;
}
int
main(int , char **argv)
{
// Initialize Inventor. This returns a main window to use.
// If unsuccessful, exit.
QWidget* myWindow = SoQt::init(argv[0]); // pass the app name
if (myWindow == NULL) exit(1);
// Make a scene containing a red cone
SoSeparator *root = new SoSeparator;
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoMaterial *myMaterial = new SoMaterial;
root->ref();
root->addChild(myCamera);
root->addChild(new SoDirectionalLight);
myMaterial->diffuseColor.setValue(1.0, 0.0, 0.0); // Red
root->addChild(myMaterial);
// GsTL_SoNode::initClass();
GsTL_SoNode* obj = new GsTL_SoNode;
obj->addChild(new SoCone);
root->addChild( obj );
obj->visible = true;
// Create a renderArea in which to see our scene graph.
// The render area will appear within the main window.
SoQtRenderArea *myRenderArea = new SoQtRenderArea(myWindow);
// Make myCamera see everything.
myCamera->viewAll(root, myRenderArea->getViewportRegion());
// Put our scene in myRenderArea, change the title
myRenderArea->setSceneGraph(root);
myRenderArea->setTitle("Hello Cone");
myRenderArea->show();
SoQt::show(myWindow); // Display main window
SoQt::mainLoop(); // Main Inventor event loop
}
int
main(int argc, char ** argv)
{
QApplication app(argc, argv);
// Initializes Quarter library (and implicitly also the Coin and Qt
// libraries).
Quarter::init();
// Make a dead simple scene graph by using the Coin library, only
// containing a single yellow cone under the scenegraph root.
SoSeparator * root = new SoSeparator;
root->ref();
SoBaseColor * col = new SoBaseColor;
col->rgb = SbColor(1, 1, 0);
root->addChild(col);
root->addChild(new SoCone);
// Create a QuarterWidget for displaying a Coin scene graph
QuarterWidget * viewer = new QuarterWidget;
viewer->setSceneGraph(root);
// make the viewer react to input events similar to the good old
// ExaminerViewer
viewer->setNavigationModeFile(QUrl("coin:///scxml/navigation/examiner.xml"));
// Pop up the QuarterWidget
viewer->show();
// Loop until exit.
app.exec();
// Clean up resources.
root->unref();
delete viewer;
Quarter::clean();
return 0;
}
VirtualRobot::VisualizationNodePtr CoinVisualizationNode::clone(bool deepCopy, float scaling)
{
THROW_VR_EXCEPTION_IF(scaling<=0,"Scaling must be >0");
SoSeparator* newModel = NULL;
if (visualization)
{
newModel = new SoSeparator;
newModel->ref();
if (scaling!=1.0)
{
SoScale *s = new SoScale;
s->scaleFactor.setValue(scaling,scaling,scaling);
newModel->addChild(s);
}
if (deepCopy)
{
newModel->addChild(visualization->copy(FALSE));
} else
newModel->addChild(visualization);
}
VisualizationNodePtr p(new CoinVisualizationNode(newModel));
if (newModel)
newModel->unrefNoDelete();
p->setUpdateVisualization(updateVisualization);
p->setGlobalPose(getGlobalPose());
p->setFilename(filename,boundingBox);
// clone attached visualizations
std::map< std::string, VisualizationNodePtr >::const_iterator i = attachedVisualizations.begin();
while (i!=attachedVisualizations.end())
{
VisualizationNodePtr attachedClone = i->second->clone(deepCopy,scaling);
p->attachVisualization(i->first, attachedClone);
i++;
}
return p;
}
SoPickedPoint* ViewProvider::getPointOnRay(const SbVec3f& pos,const SbVec3f& dir, const View3DInventorViewer* viewer) const
{
// Note: There seems to be a bug with setRay() which causes SoRayPickAction
// to fail to get intersections between the ray and a line
//first get the path to this node and calculate the current setTransformation
SoSearchAction sa;
sa.setNode(pcRoot);
sa.setSearchingAll(true);
sa.apply(viewer->getSoRenderManager()->getSceneGraph());
SoGetMatrixAction gm(viewer->getSoRenderManager()->getViewportRegion());
gm.apply(sa.getPath());
// build a temporary scenegraph only keeping this viewproviders nodes and the accumulated
// transformation
SoTransform* trans = new SoTransform;
trans->ref();
trans->setMatrix(gm.getMatrix());
SoSeparator* root = new SoSeparator;
root->ref();
root->addChild(viewer->getSoRenderManager()->getCamera());
root->addChild(trans);
root->addChild(pcRoot);
//get the picked point
SoRayPickAction rp(viewer->getSoRenderManager()->getViewportRegion());
rp.setRay(pos,dir);
rp.setRadius(viewer->getPickRadius());
rp.apply(root);
root->unref();
trans->unref();
// returns a copy of the point
SoPickedPoint* pick = rp.getPickedPoint();
//return (pick ? pick->copy() : 0); // needs the same instance of CRT under MS Windows
return (pick ? new SoPickedPoint(*pick) : 0);
}
SoSeparator *
createScenegraph(void)
{
SoSeparator * texroot = new SoSeparator;
texroot->ref();
SoInput in;
in.setBuffer(red_cone_iv, strlen(red_cone_iv));
SoSeparator * result = SoDB::readAll(&in);
if (result == NULL) { exit(1); }
SoPerspectiveCamera *myCamera = new SoPerspectiveCamera;
SoRotationXYZ *rot = new SoRotationXYZ;
rot->axis = SoRotationXYZ::X;
rot->angle = M_PI_2;
myCamera->position.setValue(SbVec3f(-0.2, -0.2, 2.0));
myCamera->scaleHeight(0.4);
texroot->addChild(myCamera);
texroot->addChild(new SoDirectionalLight);
texroot->addChild(rot);
texroot->addChild(result);
myCamera->viewAll(texroot, SbViewportRegion());
// Generate the texture map
SoTexture2 *texture = new SoTexture2;
texture->ref();
if (generateTextureMap(texroot, texture, 128, 128))
printf ("Successfully generated texture map\n");
else
printf ("Could not generate texture map\n");
texroot->unref();
// Make a scene with a cube and apply the texture to it
SoSeparator * root = new SoSeparator;
root->addChild(texture);
root->addChild(new SoCube);
return root;
}
SoSeparator* IVWorkSpace::calculateBoundingBox(SoSeparator *element){
// set up an engine to calculate the bounding box of the element parameter
SoComputeBoundingBox * bboxEngine = new SoComputeBoundingBox;
bboxEngine->node = element;
// decompose the vectors into separate floating point values
SoDecomposeVec3f * dep1 = new SoDecomposeVec3f;
SoDecomposeVec3f * dep2 = new SoDecomposeVec3f;
dep1->vector.connectFrom(&bboxEngine->min);
dep2->vector.connectFrom(&bboxEngine->max);
// create engines to compose vectors again. We need eight vectors,
// one for each vertex in the bounding box.
SoComposeVec3f * comp1 = new SoComposeVec3f;
SoComposeVec3f * comp2 = new SoComposeVec3f;
SoComposeVec3f * comp3 = new SoComposeVec3f;
SoComposeVec3f * comp4 = new SoComposeVec3f;
SoComposeVec3f * comp5 = new SoComposeVec3f;
SoComposeVec3f * comp6 = new SoComposeVec3f;
SoComposeVec3f * comp7 = new SoComposeVec3f;
SoComposeVec3f * comp8 = new SoComposeVec3f;
// connect the engines so that all corner points are covered
comp1->x.connectFrom(&dep1->x);
comp1->y.connectFrom(&dep1->y);
comp1->z.connectFrom(&dep1->z);
comp2->x.connectFrom(&dep2->x);
comp2->y.connectFrom(&dep1->y);
comp2->z.connectFrom(&dep1->z);
comp3->x.connectFrom(&dep2->x);
comp3->y.connectFrom(&dep2->y);
comp3->z.connectFrom(&dep1->z);
comp4->x.connectFrom(&dep1->x);
comp4->y.connectFrom(&dep2->y);
comp4->z.connectFrom(&dep1->z);
comp5->x.connectFrom(&dep1->x);
comp5->y.connectFrom(&dep1->y);
comp5->z.connectFrom(&dep2->z);
comp6->x.connectFrom(&dep2->x);
comp6->y.connectFrom(&dep1->y);
comp6->z.connectFrom(&dep2->z);
comp7->x.connectFrom(&dep2->x);
comp7->y.connectFrom(&dep2->y);
comp7->z.connectFrom(&dep2->z);
comp8->x.connectFrom(&dep1->x);
comp8->y.connectFrom(&dep2->y);
comp8->z.connectFrom(&dep2->z);
// concatenate the eight vectors into a single SoMFVec3f field
SoConcatenate * con = new SoConcatenate(SoMFVec3f::getClassTypeId());
con->input[0]->connectFrom(&comp1->vector);
con->input[1]->connectFrom(&comp2->vector);
con->input[2]->connectFrom(&comp3->vector);
con->input[3]->connectFrom(&comp4->vector);
con->input[4]->connectFrom(&comp5->vector);
con->input[5]->connectFrom(&comp6->vector);
con->input[6]->connectFrom(&comp7->vector);
con->input[7]->connectFrom(&comp8->vector);
// construct a new scene graph, that includes an indexed line to
// render the bounding box.
SoSeparator* sep = new SoSeparator;
SoLightModel* lm = new SoLightModel;
lm->model = SoLightModel::BASE_COLOR;
SoCoordinate3* coords = new SoCoordinate3;
// use the points calculated by our engines
coords->point.connectFrom(con->output);
SoDrawStyle* ds = new SoDrawStyle;
ds->lineWidth = 2;
ds->linePattern = 0xf0f0;
SoIndexedLineSet* ls = new SoIndexedLineSet;
const int32_t idx[] = {0,1,2,3,0,-1,4,5,6,7,4,-1,
1,5,-1,2,6,-1,3,7,-1,0,4,-1};
ls->coordIndex.setNum(24);
ls->coordIndex.setValues(0, 24, idx);
sep->addChild(lm);
sep->addChild(coords);
sep->addChild(ds);
sep->addChild(ls);
sep->ref();
return sep;
}