cnoid::GLSceneRenderer Class Reference

#include <GLSceneRenderer.h>

Inheritance diagram for cnoid::GLSceneRenderer:

Public Types
enum	RendererType { GL1_RENDERER, GLSL_RENDERER }
enum	LightingMode {   NormalLighting, MinimumLighting, SolidColorLighting, NoLighting,   NumLightingModes }
enum	CullingMode { ENABLE_BACK_FACE_CULLING, DISABLE_BACK_FACE_CULLING, FORCE_BACK_FACE_CULLING, N_CULLING_MODES }
Public Types inherited from cnoid::SceneRenderer
typedef PolymorphicSceneNodeFunctionSet	NodeFunctionSet
typedef std::function< SgNode *(SgNode *targetNode)>	NodeDecorationFunction

Public Member Functions
	GLSceneRenderer (SgGroup *root=nullptr)
virtual	~GLSceneRenderer ()
virtual void	setOutputStream (std::ostream &os)
virtual SgGroup *	sceneRoot () override
virtual SgGroup *	scene () override
virtual bool	initializeGL ()=0
virtual void	flushGL ()=0
virtual void	clearGL ()
virtual void	setDefaultFramebufferObject (unsigned int id)
virtual const std::string &	glVendor () const =0
virtual void	setViewport (int x, int y, int width, int height)=0
virtual void	updateViewportInformation (int x, int y, int width, int height)
Array4i	viewport () const
void	getViewport (int &out_x, int &out_y, int &out_width, int &out_height) const
double	aspectRatio () const
void	getPerspectiveProjectionMatrix (double fovy, double aspect, double zNear, double zFar, Matrix4 &out_matrix)
void	getOrthographicProjectionMatrix (double left, double right, double bottom, double top, double nearVal, double farVal, Matrix4 &out_matrix)
void	getViewFrustum (const SgPerspectiveCamera *camera, double &left, double &right, double &bottom, double &top) const
void	getViewVolume (const SgOrthographicCamera *camera, float &out_left, float &out_right, float &out_bottom, float &out_top) const
bool	unproject (double x, double y, double z, Vector3 &out_projected) const
const Vector3f &	backgroundColor () const
void	setBackgroundColor (const Vector3f &color)
const Vector3f &	defaultColor () const
void	setDefaultColor (const Vector3f &color)
virtual void	setLightingMode (LightingMode mode)=0
virtual LightingMode	lightingMode () const =0
virtual void	clearShadows ()
virtual void	enableShadowOfLight (int index, bool on=true)
virtual void	enableShadowAntiAliasing (bool on)
virtual void	setDefaultSmoothShading (bool on)=0
virtual SgMaterial *	defaultMaterial ()=0
virtual void	enableTexture (bool on)=0
virtual void	setDefaultPointSize (double size)=0
virtual void	setDefaultLineWidth (double width)=0
virtual void	showNormalVectors (double length)=0
virtual void	requestToClearResources ()=0
virtual void	enableUnusedResourceCheck (bool on)=0
virtual const Vector3 &	pickedPoint () const =0
virtual const SgNodePath &	pickedNodePath () const =0
virtual void	setColor (const Vector3f &color)=0
virtual void	setUpsideDown (bool on)
virtual void	setBackFaceCullingMode (int mode)=0
virtual int	backFaceCullingMode () const =0
virtual void	setBoundingBoxRenderingForLightweightRenderingGroupEnabled (bool on)
virtual void	setPickingImageOutputEnabled (bool on)
virtual bool	getPickingImage (Image &out_image)
virtual bool	isShadowCastingAvailable () const
Public Member Functions inherited from cnoid::SceneRenderer
	SceneRenderer ()
virtual	~SceneRenderer ()
void	setName (const std::string &name)
const std::string &	name () const
virtual void	applyExtensions ()
virtual bool	applyNewExtensions ()
virtual void	clearScene ()
virtual PolymorphicSceneNodeFunctionSet *	renderingFunctions ()=0
virtual void	renderCustomGroup (SgGroup *group, std::function< void()> traverseFunction)=0
virtual void	renderCustomTransform (SgTransform *transform, std::function< void()> traverseFunction)=0
virtual void	renderNode (SgNode *node)=0
virtual void	addNodeDecoration (SgNode *targetNode, NodeDecorationFunction func, int id)=0
virtual void	clearNodeDecorations (int id)=0
int	numCameras () const
SgCamera *	camera (int index)
const SgNodePath &	cameraPath (int index) const
const Isometry3 &	cameraPosition (int index) const
const Isometry3 &	currentCameraPosition () const
SignalProxy< void()>	sigCamerasChanged () const
SgCamera *	currentCamera () const
int	currentCameraIndex () const
void	setCurrentCamera (int index)
bool	setCurrentCamera (SgCamera *camera)
SignalProxy< void()>	sigCurrentCameraChanged ()
std::vector< std::string >	simplifiedCameraPathStrings (int cameraIndex)
bool	getSimplifiedCameraPathStrings (int cameraIndex, std::vector< std::string > &out_pathStrings)
int	findCameraPath (const std::vector< std::string > &simplifiedPathStrings)
bool	setCurrentCameraPath (const std::vector< std::string > &simplifiedPathStrings)
void	setCurrentCameraAutoRestorationMode (bool on)
int	numLights () const
void	getLightInfo (int index, SgLight *&out_light, Isometry3 &out_position) const
void	setAsDefaultLight (SgLight *light)
void	unsetDefaultLight (SgLight *light)
SgLight *	headLight ()
void	setHeadLight (SgLight *light)
void	enableAdditionalLights (bool on)
void	enableFog (bool on)
bool	isFogEnabled () const
int	numFogs () const
SgFog *	fog (int index) const
virtual const Affine3 &	currentModelTransform () const =0
virtual const Matrix4 &	projectionMatrix () const =0
virtual double	projectedPixelSizeRatio (const Vector3 &position) const =0
void	extractPreprocessedNodes ()
void	setFlagVariableToUpdatePreprocessedNodeTree (bool &flag)
void	render ()
bool	pick (int x, int y)
virtual bool	isRenderingPickingImage () const
void	setProperty (PropertyKey key, bool value)
void	setProperty (PropertyKey key, int value)
void	setProperty (PropertyKey key, double value)
bool	property (PropertyKey key, bool defaultValue) const
int	property (PropertyKey key, int defaultValue) const
double	property (PropertyKey key, double defaultValue) const

Static Public Member Functions
static void	initializeClass ()
static int	rendererType ()
static GLSceneRenderer *	create (SgGroup *root=nullptr)
Static Public Member Functions inherited from cnoid::SceneRenderer
static void	addExtension (std::function< void(SceneRenderer *renderer)> func)

Additional Inherited Members
Protected Member Functions inherited from cnoid::SceneRenderer
virtual void	doRender ()=0
virtual bool	doPick (int x, int y)

Member Enumeration Documentation

CullingMode

enum cnoid::GLSceneRenderer::CullingMode

Enumerator
ENABLE_BACK_FACE_CULLING
DISABLE_BACK_FACE_CULLING
FORCE_BACK_FACE_CULLING
N_CULLING_MODES

LightingMode

enum cnoid::GLSceneRenderer::LightingMode

Enumerator
NormalLighting
MinimumLighting
SolidColorLighting
NoLighting
NumLightingModes

RendererType

enum cnoid::GLSceneRenderer::RendererType

Enumerator
GL1_RENDERER
GLSL_RENDERER

Constructor & Destructor Documentation

GLSceneRenderer()

GLSceneRenderer::GLSceneRenderer

(

SgGroup *

root = nullptr

)

~GLSceneRenderer()

GLSceneRenderer::~GLSceneRenderer ( )

virtual

Member Function Documentation

aspectRatio()

double GLSceneRenderer::aspectRatio

(

)

const

backFaceCullingMode()

virtual int cnoid::GLSceneRenderer::backFaceCullingMode ( ) const

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

backgroundColor()

const Vector3f & GLSceneRenderer::backgroundColor

(

)

const

clearGL()

void GLSceneRenderer::clearGL ( )

virtual

This function clears all the OpenGL resourses used in the renderer. The function should be called when the renderer is deleted. The function must be called when the OpenGL context is changed, and then the initializeGL function must be called again for the new OpenGL context. Note that the corresponding OpenGL context must be made current when the function is called.

Reimplemented in cnoid::GLSLSceneRenderer.

clearShadows()

void GLSceneRenderer::clearShadows ( )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

create()

GLSceneRenderer * GLSceneRenderer::create ( SgGroup *  root = nullptr )

static

defaultColor()

const Vector3f & GLSceneRenderer::defaultColor

(

)

const

defaultMaterial()

virtual SgMaterial* cnoid::GLSceneRenderer::defaultMaterial ( )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

enableShadowAntiAliasing()

void GLSceneRenderer::enableShadowAntiAliasing ( bool  on )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

enableShadowOfLight()

void GLSceneRenderer::enableShadowOfLight ( int  index, bool  on = true  )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

enableTexture()

virtual void cnoid::GLSceneRenderer::enableTexture ( bool  on )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

enableUnusedResourceCheck()

virtual void cnoid::GLSceneRenderer::enableUnusedResourceCheck ( bool  on )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

flushGL()

virtual void cnoid::GLSceneRenderer::flushGL ( )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

getOrthographicProjectionMatrix()

void GLSceneRenderer::getOrthographicProjectionMatrix	(	double	left,
		double	right,
		double	bottom,
		double	top,
		double	nearVal,
		double	farVal,
		Matrix4 &	out_matrix
	)

getPerspectiveProjectionMatrix()

void GLSceneRenderer::getPerspectiveProjectionMatrix	(	double	fovy,
		double	aspect,
		double	zNear,
		double	zFar,
		Matrix4 &	out_matrix
	)

getPickingImage()

bool GLSceneRenderer::getPickingImage ( Image &  out_image )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

getViewFrustum()

void GLSceneRenderer::getViewFrustum	(	const SgPerspectiveCamera *	camera,
		double &	left,
		double &	right,
		double &	bottom,
		double &	top
	)		const

getViewport()

void GLSceneRenderer::getViewport	(	int &	out_x,
		int &	out_y,
		int &	out_width,
		int &	out_height
	)		const

getViewVolume()

void GLSceneRenderer::getViewVolume	(	const SgOrthographicCamera *	camera,
		float &	out_left,
		float &	out_right,
		float &	out_bottom,
		float &	out_top
	)		const

glVendor()

virtual const std::string& cnoid::GLSceneRenderer::glVendor ( ) const

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

initializeClass()

void GLSceneRenderer::initializeClass ( )

static

initializeGL()

virtual bool cnoid::GLSceneRenderer::initializeGL ( )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

isShadowCastingAvailable()

bool GLSceneRenderer::isShadowCastingAvailable ( ) const

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

lightingMode()

virtual LightingMode cnoid::GLSceneRenderer::lightingMode ( ) const

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

pickedNodePath()

virtual const SgNodePath& cnoid::GLSceneRenderer::pickedNodePath ( ) const

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

pickedPoint()

virtual const Vector3& cnoid::GLSceneRenderer::pickedPoint ( ) const

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

rendererType()

int GLSceneRenderer::rendererType ( )

static

requestToClearResources()

virtual void cnoid::GLSceneRenderer::requestToClearResources ( )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

scene()

SgGroup * GLSceneRenderer::scene ( )

overridevirtual

Implements cnoid::SceneRenderer.

sceneRoot()

SgGroup * GLSceneRenderer::sceneRoot ( )

overridevirtual

Implements cnoid::SceneRenderer.

setBackFaceCullingMode()

virtual void cnoid::GLSceneRenderer::setBackFaceCullingMode ( int  mode )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setBackgroundColor()

void GLSceneRenderer::setBackgroundColor

(

const Vector3f &

color

)

setBoundingBoxRenderingForLightweightRenderingGroupEnabled()

void GLSceneRenderer::setBoundingBoxRenderingForLightweightRenderingGroupEnabled ( bool  on )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

setColor()

virtual void cnoid::GLSceneRenderer::setColor ( const Vector3f &  color )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setDefaultColor()

void GLSceneRenderer::setDefaultColor

(

const Vector3f &

color

)

setDefaultFramebufferObject()

void GLSceneRenderer::setDefaultFramebufferObject ( unsigned int  id )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

setDefaultLineWidth()

virtual void cnoid::GLSceneRenderer::setDefaultLineWidth ( double  width )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setDefaultPointSize()

virtual void cnoid::GLSceneRenderer::setDefaultPointSize ( double  size )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setDefaultSmoothShading()

virtual void cnoid::GLSceneRenderer::setDefaultSmoothShading ( bool  on )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setLightingMode()

virtual void cnoid::GLSceneRenderer::setLightingMode ( LightingMode  mode )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setOutputStream()

void GLSceneRenderer::setOutputStream ( std::ostream &  os )

virtual

Reimplemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

setPickingImageOutputEnabled()

void GLSceneRenderer::setPickingImageOutputEnabled ( bool  on )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

setUpsideDown()

void GLSceneRenderer::setUpsideDown ( bool  on )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

setViewport()

virtual void cnoid::GLSceneRenderer::setViewport ( int  x, int  y, int  width, int  height  )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

showNormalVectors()

virtual void cnoid::GLSceneRenderer::showNormalVectors ( double  length )

pure virtual

Implemented in cnoid::GLSLSceneRenderer, and cnoid::GL1SceneRenderer.

unproject()

bool GLSceneRenderer::unproject	(	double	x,
		double	y,
		double	z,
		Vector3 &	out_projected
	)		const

updateViewportInformation()

void GLSceneRenderer::updateViewportInformation ( int  x, int  y, int  width, int  height  )

virtual

Reimplemented in cnoid::GLSLSceneRenderer.

viewport()

Array4i GLSceneRenderer::viewport

(

)

const

---

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

• GLSceneRenderer.h
• GLSceneRenderer.cpp