GraphicalWObject Class Reference

An helper class to draw stuffs in the world. More...

Inheritance diagram for GraphicalWObject:

Public Member Functions
	GraphicalWObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity())
	Constructor. More...
virtual	~GraphicalWObject ()
	Destructor. More...
WObject *	attachedObject () const
	The object to which we are attached. More...
void	attachToObject (WObject *object, bool makeOwner=false, const wMatrix &displacement=wMatrix::identity())
	Attaches this object to another WObject. More...
const wMatrix &	getDisplacement () const
	Returns the displacement matrix relative to the object to which we are attached. More...
void	setDisplacement (const wMatrix &displacement)
	Sets the displacement matrix relative to the object to which we are attached. More...
void	updateAndCalculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
	Returns the min and max points of the Axis-Aligned Bounding Box (AABB) More...
void	updateAndCalculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
	Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame. More...
void	updateAndRender (RenderWObject *renderer, QGLContext *gw)
	Performs the actual drawing. More...
void	updateAndRenderAABB (RenderWObject *renderer, RenderWorld *gw)
	The function rendering the Axis-Aligned Bounding Box (AABB) More...
Public Member Functions inherited from WObject
	WObject (World *world, QString name="unamed", const wMatrix &tm=wMatrix::identity(), bool addToWorld=true)
	create the object and automatically put this into the world More...
virtual	~WObject ()
	destroy the Object and drop it from the world More...
QColor	color () const
	return the color of this object More...
void	drawLocalAxes (bool d)
	Sets whether the object local frame of reference should be drawn or not. More...
bool	isInvisible () const
	return if it is invisible More...
const QString &	label () const
	Returns the text label to render along with the object. More...
const QColor &	labelColor () const
	Returns the color of the label. More...
const wVector &	labelPosition () const
	Returns the label position relative to this object. More...
bool	labelShown () const
	Returns whether the label is shown or not. More...
bool	localAxesDrawn () const
	Returns true if the local frame of refecence of the object should be drawn. More...
const wMatrix &	matrix () const
	return a reference to the transformation matrix More...
QString	name () const
	Return the name of this object. More...
virtual void	postUpdate ()
	postUpdate the WObject this method is called at each step of the world just after the physic update More...
virtual void	preUpdate ()
	preUpdate the WObject this method is called at each step of the world just before the physic update More...
void	setAlpha (int alpha)
	set the value of alpha channel (the transparency) More...
void	setColor (QColor c)
	Set the color to use on rendering. More...
void	setInvisible (bool b)
	set invisibility More...
void	setLabel (QString label)
	Sets a text label to render along with the object. More...
void	setLabel (QString label, wVector pos)
	Sets a text label to render along with the object and its position. More...
void	setLabel (QString label, wVector pos, QColor color)
	Sets a text label to render along with the object and its position and color. More...
void	setLabelColor (const QColor &color)
	Sets the color of the label. More...
void	setLabelPosition (const wVector &pos)
	Sets the label position relative to this object. More...
void	setMatrix (const wMatrix &newm)
	set a new matrix More...
void	setPosition (const wVector &newpos)
	set the position specified in global coordinate frame More...
void	setPosition (real x, real y, real z)
	set the position specified in global coordinate frame More...
void	setTexture (QString textureName)
	Set the texture to use for this WObject when rendered. More...
void	setUseColorTextureOfOwner (bool b)
	set if the object will be rendered with the color and texture of our owner (if we have one) More...
void	showLabel (bool show)
	Sets whether to show the label or not. More...
QString	texture () const
	Return the texture name. More...
bool	useColorTextureOfOwner () const
	if true, we will use color and texture of our owner (if we have one) More...
World *	world ()
	Return the world. More...
const World *	world () const
	Return the world (const version) More...
Public Member Functions inherited from Ownable
	Ownable ()
	Constructor. More...
virtual	~Ownable ()
	Destructor. More...
const QList< Owned > &	owned () const
	Returns the list of objects owned by this one. More...
Ownable *	owner () const
	Returns the owner of this object. More...
void	setOwner (Ownable *owner, bool destroy=true)
	Sets the owner of this object. More...

Protected Member Functions
virtual void	calculateAABB (wVector &minPoint, wVector &maxPoint, const wMatrix tm)
	Returns the min and max points of the Axis-Aligned Bounding Box (AABB) More...
virtual void	calculateOBB (wVector &dimension, wVector &minPoint, wVector &maxPoint)
	Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame If there is no meaningful OBB, set dimension, minPoint and maxPoint to (0, 0, 0), as the default implementation does. More...
virtual void	render (RenderWObject *renderer, QGLContext *gw)=0
	Performs the actual drawing. More...
virtual void	renderAABB (RenderWObject *renderer, RenderWorld *gw)
	The function rendering the Axis-Aligned Bounding Box (AABB) More...
void	updateMatrixFromAttachedObject ()
	Updates the transformation matrix from the object to which we are attached (if there is one) More...
Protected Member Functions inherited from WObject
virtual void	changedMatrix ()
	virtual function called when the transformation matrix change More...

Additional Inherited Members
Public Types inherited from Ownable
typedef QList< Owned >	OwnedList
	The type for the list of owned objects. More...
Protected Attributes inherited from WObject
QColor	colorv
	Color, it contains also alpha channel. More...
bool	invisible
	if TRUE it will not renderized More...
QColor	labelcol
	The color of the label. More...
bool	labeldrawn
	Whether the label should be rendered or not. More...
wVector	labelpos
	The position of the label in the object frame of reference. More...
QString	labelv
	The text label of the object. More...
bool	localFrameOfReferenceDrawn
	If true, the local frame of reference of the object is drawn. More...
QString	namev
	Name of the WObject. More...
QString	texturev
	Texture name. More...
wMatrix	tm
	Trasformation matrix. More...
bool	usecolortextureofowner
	if true, we will use color and texture of our owner (if we have one). More...
World *	worldv
	World. More...

Detailed Description

An helper class to draw stuffs in the world.

This class is useful to add to the world purely graphical objects. All the drawing can be done directly inside child of this classes (without the need for a separate RenderWObject class). Moreover it is possible to attach object of this type to another WObject: the transformation matrix of this object will be set to be the same as the one of the WObject to which this one is attached when drawing is required. It is also possible to specify a displacement matrix relative to the object to which we are attached: in this case the transformation matrix of this object is set to the combination of the transformation matrix of the object to which we are attached and the displacement matrix when drawing is required

Definition at line 48 of file graphicalwobject.h.

Constructor & Destructor Documentation

GraphicalWObject	(	World *	world,
		QString	name = "unamed",
		const wMatrix &	tm = wMatrix::identity()
	)

Constructor.

Parameters

world	the world the object lives in
name	the name of this object
tm	the transformation matrix for this object

Definition at line 28 of file graphicalwobject.cpp.

~GraphicalWObject ( )

virtual

Destructor.

Definition at line 38 of file graphicalwobject.cpp.

Member Function Documentation

WObject* attachedObject ( ) const

inline

The object to which we are attached.

Returns

the object to which we are attached

Definition at line 88 of file graphicalwobject.h.

void attachToObject	(	WObject *	object,
		bool	makeOwner = false,
		const wMatrix &	displacement = wMatrix::identity()
	)

Attaches this object to another WObject.

When we are attached to an object, our transformation matrix is set to the one of the object to which we are attached before drawing is performed

Parameters

object	the WObject to which we are attached. If NULL we are not attached to any object
makeOwner	if true object is made the owner of this so that when object is destroyed this one is destroyed too
displacement	the transformation matrix relative to the object to which we are attached. This matrix is ignored if we are not attached to any object

Definition at line 43 of file graphicalwobject.cpp.

References Ownable::setOwner().

Referenced by PhyMarXbot::setDrawFrontMarker(), PhyKhepera::setDrawFrontMarker(), PhyEpuck::setDrawFrontMarker(), and SingleIRGraphic::SingleIRGraphic().

void calculateAABB ( wVector &  minPoint, wVector &  maxPoint, const wMatrix  tm  )

protectedvirtual

Returns the min and max points of the Axis-Aligned Bounding Box (AABB)

If there is no meaningful AABB, set both minPoint and maxPoint to (0, 0, 0), as the default implementation does

Parameters

minPoint	the minimum point of the AABB
maxPoint	the maximum point of the AABB
tm	the transformation matrix with respect to which the minPoint and maxPoint of AABB have to be calculated

Definition at line 93 of file graphicalwobject.cpp.

Referenced by GraphicalWObject::updateAndCalculateAABB().

void calculateOBB ( wVector &  dimension, wVector &  minPoint, wVector &  maxPoint  )

protectedvirtual

Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame If there is no meaningful OBB, set dimension, minPoint and maxPoint to (0, 0, 0), as the default implementation does.

Parameters

dimension	the dimension of the OBB
minPoint	the minimum point of the OBB
maxPoint	the maximum point of the OBB

Definition at line 100 of file graphicalwobject.cpp.

Referenced by GraphicalWObject::updateAndCalculateOBB().

const wMatrix& getDisplacement ( ) const

inline

Returns the displacement matrix relative to the object to which we are attached.

This matrix is ignored if we are not attached to any object

Returns

the displacement matrix relative to the object to which we are attached

Definition at line 111 of file graphicalwobject.h.

virtual void render ( RenderWObject *  renderer, QGLContext *  gw  )

protectedpure virtual

Performs the actual drawing.

Reimplement to draw what you need

Parameters

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the OpenGL context

Implemented in SingleIRGraphic, PlanarArrowGraphicalMarker, and CircularGraphicalMarker.

Referenced by GraphicalWObject::updateAndRender().

void renderAABB ( RenderWObject *  renderer, RenderWorld *  gw  )

protectedvirtual

The function rendering the Axis-Aligned Bounding Box (AABB)

The default implementation does nothing

Parameters

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the object rendering the world

Definition at line 88 of file graphicalwobject.cpp.

Referenced by GraphicalWObject::updateAndRenderAABB().

void setDisplacement

(

const wMatrix &

displacement

)

Sets the displacement matrix relative to the object to which we are attached.

This matrix is ignored if we are not attached to any object

Parameters

displacement

the displacement matrix relative to the object to which we are attached

Definition at line 55 of file graphicalwobject.cpp.

void updateAndCalculateAABB	(	wVector &	minPoint,
		wVector &	maxPoint,
		const wMatrix	tm
	)

Returns the min and max points of the Axis-Aligned Bounding Box (AABB)

This calls the calculateAABB() function after updating the transformation matrix. See the description of that function for more details

Parameters

minPoint	the minimum point of the AABB
maxPoint	the maximum point of the AABB
tm	the transformation matrix with respect to which the minPoint and maxPoint of AABB have to be calculated

Definition at line 74 of file graphicalwobject.cpp.

References GraphicalWObject::calculateAABB(), and GraphicalWObject::updateMatrixFromAttachedObject().

void updateAndCalculateOBB	(	wVector &	dimension,
		wVector &	minPoint,
		wVector &	maxPoint
	)

Returns the dimension of the Oriented Bounding Box (OBB) in the object local frame.

This calls the calculateOBB() function after updating the transformation matrix. See the description of that function for more details

Parameters

dimension	the dimension of the OBB
minPoint	the minimum point of the OBB
maxPoint	the maximum point of the OBB

Definition at line 81 of file graphicalwobject.cpp.

References GraphicalWObject::calculateOBB(), and GraphicalWObject::updateMatrixFromAttachedObject().

void updateAndRender	(	RenderWObject *	renderer,
		QGLContext *	gw
	)

Performs the actual drawing.

This calls the render() function after updating the transformation matrix. See the description of that function for more details

Parameters

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the OpenGL context

Definition at line 60 of file graphicalwobject.cpp.

References GraphicalWObject::render(), and GraphicalWObject::updateMatrixFromAttachedObject().

void updateAndRenderAABB	(	RenderWObject *	renderer,
		RenderWorld *	gw
	)

The function rendering the Axis-Aligned Bounding Box (AABB)

This calls the renderAABB() function after updating the transformation matrix. See the description of that function for more details

Parameters

renderer	the RenderWObject object associated with this one. Use it e.g. to access the container
gw	the object rendering the world

Definition at line 67 of file graphicalwobject.cpp.

References GraphicalWObject::renderAABB(), and GraphicalWObject::updateMatrixFromAttachedObject().

void updateMatrixFromAttachedObject ( )

protected

Updates the transformation matrix from the object to which we are attached (if there is one)

Definition at line 108 of file graphicalwobject.cpp.

References WObject::matrix(), and WObject::setMatrix().

Referenced by GraphicalWObject::updateAndCalculateAABB(), GraphicalWObject::updateAndCalculateOBB(), GraphicalWObject::updateAndRender(), and GraphicalWObject::updateAndRenderAABB().

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

• worldsim/include/graphicalwobject.h
• worldsim/src/graphicalwobject.cpp