5 #ifndef CNOID_BASE_SCENE_WIDGET_H 6 #define CNOID_BASE_SCENE_WIDGET_H 9 #include <cnoid/SceneGraph> 16 class SceneWidgetImpl;
20 class SceneWidgetEvent;
21 class SceneWidgetEditable;
22 class SceneWidgetRoot;
24 class InteractiveCameraTransform;
43 void setEditMode(
bool on);
44 bool isEditMode()
const;
55 bool isBuiltinCameraCurrent()
const;
58 void startBuiltinCameraViewChange(
const Vector3& center);
59 void rotateBuiltinCameraView(
double dPitch,
double dYaw);
60 void translateBuiltinCameraView(
const Vector3& dp_local);
62 bool unproject(
double x,
double y,
double z,
Vector3& out_projected)
const;
70 void setCollisionLinesVisible(
bool on);
71 bool collisionLinesVisible()
const;
73 void setHeadLightIntensity(
double value);
74 void setWorldLightIntensity(
double value);
75 void setWorldLightAmbient(
double value);
76 void setFloorGridSpan(
double value);
77 void setFloorGridInterval(
double value);
78 void setLineWidth(
double value);
79 void setPointSize(
double value);
80 void setNormalLength(
double value);
82 void setHeadLightEnabled(
bool on);
83 void setHeadLightLightingFromBack(
bool on);
84 void setWorldLight(
bool on);
85 void setAdditionalLights(
bool on);
86 void setFloorGrid(
bool on);
87 void setNormalVisualization(
bool on);
88 void setCoordinateAxes(
bool on);
89 void setShowFPS(
bool on);
90 void setNewDisplayListDoubleRenderingEnabled(
bool on);
91 void setUseBufferForPicking(
bool on);
93 void setBackgroundColor(
const Vector3& color);
94 void setColor(
const Vector4& color);
97 void setFieldOfView(
double value);
98 void setHeight(
double value);
99 void setNear(
double value);
100 void setFar(
double value);
110 void setCursor(
const QCursor cursor);
113 void showContextMenu();
120 void showConfigDialog();
121 QVBoxLayout* configDialogVBox();
123 bool saveImage(
const std::string& filename);
125 void setScreenSize(
int width,
int height);
127 void updateIndicator(
const std::string& text);
128 QWidget* indicator();
130 bool storeState(
Archive& archive);
131 bool restoreState(
const Archive& archive);
136 #ifdef ENABLE_SIMULATION_PROFILING 137 std::vector<std::string> profilingNames;
138 std::vector<double> profilingTimes;
139 double worldTimeStep;
143 SceneWidgetImpl* impl;
155 friend class SceneWidgetImpl;
Definition: SceneGraph.h:142
ref_ptr< SceneWidgetRoot > SceneWidgetRootPtr
Definition: SceneWidget.h:157
std::vector< SgNode * > SgNodePath
Definition: SceneGraph.h:140
Definition: SceneRenderer.h:15
Definition: SceneGraph.h:279
Definition: SceneCameras.h:58
Definition: SceneGraph.h:160
Defines the minimum processing for performing pasing file for STL.
Definition: AbstractSceneLoader.h:9
Definition: SceneCameras.h:81
Eigen::Vector3d Vector3
Definition: EigenTypes.h:58
Eigen::Vector4d Vector4
Definition: EigenTypes.h:61
#define CNOID_EXPORT
Definition: Util/exportdecl.h:37