This class implements a virtual camera. More...

#include <CCamera.h>

Inheritance diagram for chai3d::cCamera:

Public Member Functions
	cCamera (cWorld *a_parentWorld)
	Constructor of cCamera. More...

virtual	~cCamera ()
	Destructor of cCamera. More...

cWorld *	getParentWorld ()
	This method returns a pointer to the parent world. More...

virtual bool	selectWorld (const int a_windowPosX, const int a_windowPosY, const int a_windowWidth, const int a_windowHeight, cCollisionRecorder &a_collisionRecorder, cCollisionSettings &a_collisionSettings)
	This method queries whether the specified position is 'pointing at' any objects in the world. More...

virtual bool	selectFrontLayer (const int a_windowPosX, const int a_windowPosY, const int a_windowWidth, const int a_windowHeight, cCollisionRecorder &a_collisionRecorder, cCollisionSettings &a_collisionSettings)
	This method queries whether the specified position is 'pointing at' any widget on the front layer. More...

virtual bool	selectBackLayer (const int a_windowPosX, const int a_windowPosY, const int a_windowWidth, const int a_windowHeight, cCollisionRecorder &a_collisionRecorder, cCollisionSettings &a_collisionSettings)
	This method queries whether the specified position is 'pointing at' any widget on the back layer. More...

virtual bool	selectLayers (const int a_windowPosX, const int a_windowPosY, const int a_windowWidth, const int a_windowHeight, cCollisionRecorder &a_collisionRecorder, cCollisionSettings &a_collisionSettings, bool a_checkFrontLayer=true, bool a_checkBackLayer=true)
	This method queries whether the specified position is 'pointing at' any widget on selected layers. More...

virtual bool	set (const cVector3d &a_localPosition, const cVector3d &a_localLookAt, const cVector3d &a_localUp)
	This method set the position and orientation of the camera. More...

cVector3d	getLookVector () const
	This method returns the camera "look at" position vector for this camera. More...

cVector3d	getUpVector () const
	This method returns the "up" vector for this camera. More...

cVector3d	getRightVector () const
	This method returns the "right direction" vector for this camera. More...

void	setSphericalRad (const double &a_radius, const double &a_polarRad, const double &a_azimuthRad)
	This method sets the position and orientation of the camera in spherical coordinates in radians. More...

void	setSphericalDeg (const double &a_radius, const double &a_polarDeg, const double &a_azimuthDeg)
	This method sets the position and orientation of the camera in spherical coordinates in degrees. More...

void	setSphericalReferences (const cVector3d &a_originReference, const cVector3d &a_zenithReference, const cVector3d &a_azimuthReference)
	This method sets the reference vectors that define the basis of the spherical coordinate system. More...

void	setSphericalRadius (const double &a_radius)
	This method sets the radius position of the camera (spherical coordinates). More...

double	getSphericalRadius ()
	This method returns the radius position of the camera (spherical coordinates). More...

void	setSphericalPolarRad (const double &a_polarRad)
	This method sets the polar position of the camera in radians (spherical coordinates). More...

double	getSphericalPolarRad ()
	This method returns the polar position of the camera in radians (spherical coordinates). More...

void	setSphericalPolarDeg (const double &a_polarDeg)
	This method sets the polar position of the camera in degrees (spherical coordinates). More...

double	getSphericalPolarDeg ()
	This method returns the polar position of the camera in degrees (spherical coordinates). More...

void	setSphericalAzimuthRad (const double &a_azimuthRad)
	This method sets the azimuth position of the camera in radians (spherical coordinates). More...

double	getSphericalAzimuthRad ()
	This method returns the azimuth position of the camera in radians (spherical coordinates). More...

void	setSphericalAzimuthDeg (const double &a_azimuthDeg)
	This method sets the azimuth position of the camera in degrees (spherical coordinates). More...

double	getSphericalAzimuthDeg ()
	This method returns the azimuth position of the camera in degrees (spherical coordinates). More...

void	setSphericalZenithReference (const cVector3d &a_zenithReference)
	This method sets the zenith reference direction vector of the camera (spherical coordinates). More...

cVector3d	getSphericalZenithReference ()
	This method returns the zenith reference direction vector of the camera (spherical coordinates). More...

void	setSphericalAzimuthReference (const cVector3d &a_azimuthReference)
	This method sets the azimuth reference direction vector of the camera (spherical coordinates). More...

cVector3d	getSphericalAzimuthReference ()
	This method returns the azimuth reference direction vector of the camera (spherical coordinates). More...

void	setSphericalOriginReference (const cVector3d &a_originReference)
	This method sets the origin target point of the camera (spherical coordinates). More...

cVector3d	getSphericalOriginReference ()
	This method returns the origin target point of the camera (spherical coordinates). More...

void	setClippingPlanes (const double a_distanceNear, const double a_distanceFar)
	This method sets the near and far clipping plane distances. More...

double	getNearClippingPlane ()
	This method returns the near clipping plane distance. More...

double	getFarClippingPlane ()
	This method returns the far clipping plane distance. More...

void	adjustClippingPlanes ()
	This method automatically adjust back and front clipping planes. More...

void	setOrthographicView (double a_viewWidth)
	This method sets the camera in orthographic mode. More...

void	setFieldViewAngleDeg (double a_fieldViewAngleDeg)
	This method sets the field of view angle (in degrees). More...

double	getFieldViewAngleDeg ()
	This method returns the field of view angle (in degrees). More...

void	setFieldViewAngleRad (double a_fieldViewAngleRad)
	This method set the field of view angle (in radians). More...

double	getFieldViewAngleRad ()
	This method returns the field of view angle (in radians). More...

double	getAspectRatio ()
	This method returns the aspect ratio. More...

void	setStereoFocalLength (double a_stereoFocalLength)
	This method sets the stereo focal length. More...

double	getStereoFocalLength ()
	This method returns the stereo focal length. More...

void	setStereoEyeSeparation (double a_stereoEyeSeparation)
	This method sets the stereo eye separation. More...

double	getStereoEyeSeparation ()
	This method returns the stereo eye separation. More...

virtual void	renderView (const int a_windowWidth, const int a_windowHeight, const cEyeMode a_eyeMode=C_STEREO_LEFT_EYE, const bool a_defaultBuffer=true)
	This method renders the the camera view in OpenGL. More...

void	copyImageBuffer (cImagePtr a_image)
	This method copies the output image data to an image structure. More...

virtual void	setUseMultipassTransparency (bool a_enabled)
	This method enables or disables additional rendering passes for transparency. More...

bool	getUseMultipassTransparency ()
	This method returns true if multipass rendering is enabled, false otherwise. More...

int	getDisplayWidth ()
	This method returns the width of the current window display in pixels. More...

int	getDisplayHeight ()
	This method returns the height of the current window display in pixels. More...

void	updateGPU ()
	This method resets textures and display lists for the world associated with this camera. More...

virtual void	setStereoMode (cStereoMode a_stereoMode)
	This method sets the desired stereo mode. More...

cStereoMode	getStereoMode ()
	This method returns the current stereo mode being used. More...

void	setMirrorHorizontal (bool a_enabled)
	This method enables or disables output image mirroring horizontally. More...

void	setMirrorVertical (bool a_enabled)
	This method enables or disables output image mirroring vertically. More...

bool	getMirrorHorizontal ()
	This method returns true then output image is mirrored horizontally, false otherwise. More...

bool	getMirrorVertical ()
	This method returns true then output image is mirrored vertically, false otherwise. More...

void	attachAudioDevice (cAudioDevice *a_audioDevice)
	This method attaches an audio device to the camera. More...

void	detachAudioDevice ()
	This method detaches the current audio device from the camera. More...

Public Member Functions inherited from chai3d::cGenericObject
	cGenericObject ()
	Constructor of cGenericObject. More...

virtual	~cGenericObject ()
	Destructor of cGenericObject. More...

virtual void	setEnabled (bool a_enabled, const bool a_affectChildren=false)
	This method enables or disable this object. When an object is disabled, both haptic and graphic rendering no longer occur. More...

bool	getEnabled () const
	This method returns true if the object is enabled, false otherwise. More...

virtual cGenericObject *	copy (const bool a_duplicateMaterialData=false, const bool a_duplicateTextureData=false, const bool a_duplicateMeshData=false, const bool a_buildCollisionDetector=true)
	This method creates a copy of itself. More...

virtual void	setLocalPos (const cVector3d &a_localPos)
	This method sets the local position of this object. More...

void	setLocalPos (const double a_x=0.0, const double a_y=0.0, const double a_z=0.0)
	This method sets the local position of this object. More...

cVector3d	getLocalPos () const
	This method returns the local position of this object. More...

cVector3d	getGlobalPos () const
	This method returns the global position of this object. More...

virtual void	setLocalRot (const cMatrix3d &a_localRot)
	This method sets the local rotation matrix for this object. More...

cMatrix3d	getLocalRot () const
	This method returns the local rotation matrix of this object. More...

cMatrix3d	getGlobalRot () const
	This method returns the global rotation matrix of this object. More...

void	setLocalTransform (const cTransform &a_transform)
	This method returns the local position and rotation matrix by passing a transformation matrix. More...

cTransform	getLocalTransform ()
	This method returns the local position and rotation matrix in a transformation matrix. More...

cTransform	getGlobalTransform ()
	This method returns the global position and rotation matrix in a transformation matrix. More...

void	translate (const cVector3d &a_translation)
	This method translates this object by a specified offset. More...

void	translate (const double a_x, const double a_y, const double a_z=0.0)
	This method translates this object by a specified offset. More...

void	rotateAboutLocalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutLocalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotates this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutLocalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const cVector3d &a_axis, const double a_angleRad)
	This method rotates this object around a global axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const cVector3d &a_axis, const double a_angleDeg)
	This method rotates this object around a global axis. Angle magnitude is defined in degrees. More...

void	rotateAboutGlobalAxisRad (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleRad)
	This method rotate this object around a local axis. Angle magnitude is defined in radians. More...

void	rotateAboutGlobalAxisDeg (const double a_axisX, const double a_axisY, const double a_axisZ, const double a_angleDeg)
	This method rotates this object around a local axis. Angle magnitude is defined in degrees. More...

void	rotateExtrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateExtrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using fixed Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesRad (const double &a_angleRad1, const double &a_angleRad2, const double &a_angleRad3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

void	rotateIntrinsicEulerAnglesDeg (const double &a_angleDeg1, const double &a_angleDeg2, const double &a_angleDeg3, const cEulerOrder a_eulerOrder)
	This method rotates this object using co-moving Euler representation. Angles are defined in radians. More...

virtual void	computeGlobalPositions (const bool a_frameOnly=true, const cVector3d &a_globalPos=cVector3d(0.0, 0.0, 0.0), const cMatrix3d &a_globalRot=cIdentity3d())
	This method computes the global position and rotation of this object and its children. More...

void	computeGlobalPositionsFromRoot (const bool a_frameOnly=true)
	This method computes the global position and rotation of current object only. More...

bool	addEffect (cGenericEffect *a_effect)
	This method adds a haptic effect to this object. More...

bool	removeEffect (cGenericEffect *a_effect)
	This method removes a haptic effect from this object. More...

void	deleteAllEffects ()
	This method removes all haptic effects. More...

bool	createEffectMagnetic ()
	This method creates a magnetic haptic effect. More...

bool	deleteEffectMagnetic ()
	This method deletes any current magnetic haptic effect. More...

bool	createEffectStickSlip ()
	This method creates a stick-and-slip haptic effect. More...

bool	deleteEffectStickSlip ()
	This method delete any current stick-and-slip haptic effect. More...

bool	createEffectSurface ()
	This method creates a surface haptic effect. More...

bool	deleteEffectSurface ()
	This method deletes any current surface haptic effect. More...

bool	createEffectVibration ()
	This method creates a vibration haptic effect. More...

bool	deleteEffectVibration ()
	This method deletes any current vibration haptic effect. More...

bool	createEffectViscosity ()
	This method creates a viscous haptic effect. More...

bool	deleteEffectViscosity ()
	This method deletes any current viscous haptic effect. More...

virtual void	setHapticEnabled (const bool a_hapticEnabled, const bool a_affectChildren=true)
	This method enables or disables haptic perception of this object, optionally propagating the change to children. More...

bool	getHapticEnabled () const
	This method returns the haptic status of object (true means it can be felt when visible). More...

virtual void	setStiffness (const double a_stiffness, const bool a_affectChildren=true)
	This method sets the haptic stiffness of the object, optionally recursively affecting children. More...

virtual void	setFriction (double a_staticFriction, double a_dynamicFriction, const bool a_affectChildren=true)
	This method sets the static and dynamic friction properties (polygonal models only), optionally recursively affecting children. More...

virtual void	setShowEnabled (const bool a_show, const bool a_affectChildren=true)
	This method enables or disables the graphic display of this object, optionally propagating the change to children. More...

bool	getShowEnabled () const
	This method returns the display status of object (true means it's visible). More...

virtual void	setWireMode (const bool a_showWireMode, const bool a_affectChildren=false)
	This method enables or disables wireframe rendering, optionally propagating the operation to my children. More...

bool	getWireMode () const
	This method returns whether wireframe rendering is enabled. More...

virtual void	setUseCulling (const bool a_useCulling, const bool a_affectChildren=false)
	This method enables or disables face-culling, optionally propagating the operation to my children. More...

bool	getUseCulling () const
	This method returns true if face-culling is enabled, false otherwise. More...

virtual void	setUseTransparency (const bool a_useTransparency, const bool a_affectChildren=false)
	This method enables or disables transparency. More...

bool	getUseTransparency () const
	This method returns true if transparency is enabled, false otherwise. More...

virtual void	setTransparencyLevel (const float a_level, const bool a_applyToVertices=false, const bool a_applyToTextures=false, const bool a_affectChildren=false)
	This method sets the transparency level of the object. More...

virtual void	setUseDisplayList (const bool a_useDisplayList, const bool a_affectChildren=false)
	This method enabled or disables the use of a display list for rendering, optionally propagating the operation to its children. More...

bool	getUseDisplayList () const
	This method returns true if a display list is activated, false otherwise. More...

virtual void	markForUpdate (const bool a_affectChildren=false)
	This method invalidates any existing display lists, optionally propagating the operation to its children. More...

virtual void	setUseVertexColors (const bool a_useColors, const bool a_affectChildren=false)
	This method enables or disables the use of per-vertex colors, optionally propagating the operation to its children. More...

bool	getUseVertexColors () const
	This method returns true is per-vertex color properties are enabled, false otherwise. More...

virtual void	setUseMaterial (const bool a_useMaterial, const bool a_affectChildren=false)
	This method enables or disables the use of material properties, optionally propagating the operation to its children. More...

bool	getUseMaterial () const
	This method returns true is material properties are enabled, false otherwise. More...

virtual void	setMaterial (cMaterialPtr a_material, const bool a_affectChildren=false)
	This method sets the material properties of this object, optionally propagating the operation to its children. More...

virtual void	setMaterial (cMaterial &a_material, const bool a_affectChildren=false)
	This method setd the material properties of this object, optionally propagating the operation to its children. More...

virtual void	backupMaterialColors (const bool a_affectChildren=false)
	This method creates a backup of the material colors of this object, optionally propagating the operation to its children. More...

virtual void	restoreMaterialColors (const bool a_affectChildren=false)
	This method restores the material color properties of this object from a previous backup, optionally propagating the operation to its children. More...

virtual void	setUseTexture (const bool a_useTexture, const bool a_affectChildren=false)
	This method enables or disables the use of texture-mapping, optionally propagating the operation to its children. More...

bool	getUseTexture () const
	This method returns true if texture-mapping is enabled, false otherwise. More...

virtual void	setTexture (cTexture1dPtr a_texture, const bool a_affectChildren=false)
	This method sets a texture to this object, optionally propagating the operation to its children. More...

virtual void	setShaderProgram (cShaderProgramPtr a_shaderProgram, const bool a_affectChildren=false)
	This method assigns a shader program to this object, optionally propagating the operation to its children.. More...

virtual cShaderProgramPtr	getShaderProgram ()
	This method returns a pointer to the current shader program. More...

virtual void	setShowBoundaryBox (const bool a_showBoundaryBox, const bool a_affectChildren=false)
	This method enables or disabled the graphic display of the boundary box for this object, optionally propagating the change to its children. More...

bool	getShowBoundaryBox () const
	This method returns true if the boundary box is being displayed, false otherwise. More...

cVector3d	getBoundaryMin () const
	This method returns the minimum point of this object's boundary box. More...

cVector3d	getBoundaryMax () const
	This method returns the maximum point of this object's boundary box. More...

cVector3d	getBoundaryCenter () const
	This method computes and returns the center of this object's boundary box. More...

bool	getBoundaryBoxEmpty ()
	This method returns true, if the boundary box is empty, otherwise false. More...

virtual void	computeBoundaryBox (const bool a_includeChildren=true)
	This method computes this object's boundary box, optionally forcing it to bound child objects. More...

virtual void	setShowFrame (const bool a_showFrame, const bool a_affectChildren=false)
	This method enables or disables the graphic display of the reference frame arrows for this object, optionally propagating the change to its children. More...

bool	getShowFrame (void) const
	This method returns true if the display of the reference frame is enabled, false otherwise. More...

virtual void	setFrameSize (const double a_size=1.0, const bool a_affectChildren=false)
	This method sets the size of the rendered reference frame, optionally propagating the change to its children. More...

double	getFrameSize () const
	This method returns the size of the graphical reference frame. More...

void	setCollisionDetector (cGenericCollision *a_collisionDetector)
	This method sets a collision detector to this current object. More...

cGenericCollision *	getCollisionDetector () const
	This method returns a pointer to this object's current collision detector. More...

virtual void	deleteCollisionDetector (const bool a_affectChildren=false)
	This method deletes any existing collision detector. More...

virtual bool	computeCollisionDetection (const cVector3d &a_segmentPointA, const cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any collision between a segment and this object. More...

virtual void	setShowCollisionDetector (const bool a_showCollisionDetector, const bool a_affectChildren=false)
	This method enables or disables the display of the collision detector, optionally propagating the change to its children. More...

bool	getShowCollisionDetector ()
	This method returns true if the collision detector is being displayed graphically, false otherwise. More...

virtual void	setCollisionDetectorProperties (unsigned int a_displayDepth, cColorf &a_color, const bool a_affectChildren=false)
	This method sets the collision detector graphic display properties. More...

void	setParent (cGenericObject *a_parent)
	This method sets the parent of this object. More...

cGenericObject *	getParent () const
	This method returns the parent of this object. More...

void	setOwner (cGenericObject *a_owner)
	This method sets a link to an object that owns this object. This could be a super parent for instance. More...

cGenericObject *	getOwner ()
	This method returns the owner of this object. More...

cGenericObject *	getChild (const unsigned int a_index) const
	This method returns a selected child from the list of children. More...

bool	addChild (cGenericObject *a_object)
	This method add an object to the list of children. More...

bool	removeChild (cGenericObject *a_object)
	This method removes an object from the list of children, without deleting it. More...

bool	removeFromGraph ()
	This method removes this object from its parent's list of children. More...

bool	deleteChild (cGenericObject *a_object)
	This method removes an object from its list of children and deletes it. More...

void	clearAllChildren ()
	This method clears all objects from its list of children, without deleting them. More...

void	deleteAllChildren ()
	This method clears and delete all objects from its list of children. More...

unsigned int	getNumChildren ()
	This method returns the number of children from its list of children. More...

unsigned int	getNumDescendants (bool a_includeCurrentObject=false)
	This method returns the total number of descendants, optionally including this object. More...

void	setGhostEnabled (bool a_ghostEnabled)
	This method enables or disables this object to be a ghost node. More...

bool	getGhostEnabled ()
	This method returns truee if this object is a ghost node. More...

virtual void	scale (const double &a_scaleFactor, const bool a_affectChildren=true)
	This method scales the size of this object. More...

virtual void	renderSceneGraph (cRenderOptions &a_options)
	This method renders the entire scene graph, starting from this object. More...

virtual void	adjustCollisionSegment (cVector3d &a_segmentPointA, cVector3d &a_segmentPointAadjusted)
	This method adjusts the collision segment to handle objects in motion. More...

virtual cVector3d	computeInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes all haptic interaction between a tool and this object using the haptic effects. More...

Public Member Functions inherited from chai3d::cGenericType
	cGenericType ()
	Constructor of cGenericType. More...

virtual	~cGenericType ()
	Destructor of cGenericType. More...

Public Attributes
cTransform	m_projectionMatrix
	Projection matrix of camera. More...

cTransform	m_modelViewMatrix
	Modelview matrix of camera. More...

bool	m_useCustomProjectionMatrix
	If true, then use projection matrix specified in m_projectionMatrix. More...

bool	m_useCustomModelViewMatrix
	If true, then use projection matrix specified in m_projectionMatrix. More...

cWorld *	m_frontLayer
	Front plane scene graph which can be used to attach widgets. More...

cWorld *	m_backLayer
	Black plane scene graph which can be used to attach widgets. More...

cDirectionalLight *	m_lightFrontLayer
	Directional light for front plane. More...

cDirectionalLight *	m_lightBackLayer
	Directional light for back plane. More...

Public Attributes inherited from chai3d::cGenericObject
std::string	m_name
	Name of current object (filename). More...

cMaterialPtr	m_material
	Material property. More...

cTexture1dPtr	m_texture
	Texture property. More...

cNormalMapPtr	m_normalMap
	Normal map property. More...

int	m_userTag
	An arbitrary tag, not used by CHAI3D. More...

void *	m_userData
	An arbitrary data pointer, not used by CHAI3D. More...

std::string	m_userName
	Name of current object, not used by CHAI3D. More...

cGenericObject *	m_userExternalObject
	A link to an external cGenericObject object, not used by CHAI3D. More...

cVector3d	m_interactionPoint
	Projection of the most recent haptic point (tool) onto the surface of the virtual object. More...

cVector3d	m_interactionNormal
	Surface normal at the current interaction point. More...

bool	m_interactionInside
	Was the last tool (haptic point) located inside the object? More...

Protected Member Functions
void	renderLayer (cGenericObject *a_graph, int a_width, int a_height)
	Renders a 2D layer within this camera's view. More...

Protected Member Functions inherited from chai3d::cGenericObject
virtual void	render (cRenderOptions &a_options)
	This method renders this object graphically using OpenGL. More...

virtual void	updateGlobalPositions (const bool a_frameOnly)
	This method update the global position information about this object. More...

virtual void	updateBoundaryBox ()
	This method updates the boundary box of this object. More...

virtual void	scaleObject (const double &a_scaleFactor)
	This method scales the size of this object with given scale factor. More...

virtual void	computeLocalInteraction (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN)
	This method updates the geometric relationship between the tool and the current object. More...

virtual cVector3d	computeOtherInteractions (const cVector3d &a_toolPos, const cVector3d &a_toolVel, const unsigned int a_IDN, cInteractionRecorder &a_interactions)
	This method computes any additional interactions between the object and the tools. More...

virtual bool	computeOtherCollisionDetection (cVector3d &a_segmentPointA, cVector3d &a_segmentPointB, cCollisionRecorder &a_recorder, cCollisionSettings &a_settings)
	This method computes any additional collisions other than the ones computed by the default collision detector. More...

void	copyGenericObjectProperties (cGenericObject *a_objDest, const bool a_duplicateMaterialData, const bool a_duplicateTextureData, const bool a_duplicateMeshData, const bool a_buildCollisionDetector)
	This method copies all properties of the current generic object to another. More...

Protected Attributes
cWorld *	m_parentWorld
	Parent world. More...

double	m_distanceNear
	Distance to near clipping plane. More...

double	m_distanceFar
	Distance to far clipping plane. More...

double	m_fieldViewAngleDeg
	Field of view angle expressed in degrees. More...

double	m_orthographicWidth
	Width of orthographic view. More...

bool	m_perspectiveMode
	If true, then camera operates in perspective mode. If false, then camera is in orthographic mode. More...

bool	m_useMultipassTransparency
	If true, then three rendering passes are performed to approximate back-front sorting (see comment). More...

bool	m_useShadowCasting
	If true, then shadow casting is used. More...

double	m_stereoFocalLength
	Stereo focal length. More...

double	m_stereoEyeSeparation
	Stereo eye separation. More...

cStereoMode	m_stereoMode
	Stereo rendering mode. More...

unsigned int	m_lastDisplayWidth
	Last width size of the window. More...

unsigned int	m_lastDisplayHeight
	Last height size of the window. More...

bool	m_markForUpdate
	If true then a display reset has been requested. More...

bool	m_mirrorHorizontal
	If true then the output image is mirrored horizontally. More...

bool	m_mirrorVertical
	If true then the output image is mirrored vertically. More...

bool	m_mirrorStatus
	If true then only one of the axes is mirrored. More...

double	m_scaleH
	Scale factor used for horizontal mirroring. (-1.0 or 1.0) More...

double	m_scaleV
	Scale factor used for vertical mirroring. (-1.0 or 1.0) More...

double	m_posPolarRad
	Camera polar position in radians (spherical coordinates). More...

double	m_posAzimuthRad
	Camera azimuth position in radians (spherical coordinates). More...

double	m_posRadius
	Camera radius position (spherical coordinates). More...

cVector3d	m_zenithReference
	Camera zenith reference vector (spherical coordinates). More...

cVector3d	m_azimuthReference
	Camera azimuth reference vector (spherical coordinates). More...

cVector3d	m_originReference
	Camera origin (spherical coordinates). More...

cAudioDevice *	m_audioDevice
	Optionally attached audio device. More...

Protected Attributes inherited from chai3d::cGenericObject
cGenericObject *	m_parent
	Parent object. More...

cGenericObject *	m_owner

std::vector< cGenericObject * >	m_children
	List of children. More...

cVector3d	m_localPos
	The position of this object in my parent's reference frame. More...

cVector3d	m_globalPos
	The position of this object in the world's reference frame. More...

cMatrix3d	m_localRot
	The rotation matrix that rotates my reference frame into my parent's reference frame. More...

cMatrix3d	m_globalRot
	The rotation matrix that rotates my reference frame into the world's reference frame. More...

cVector3d	m_prevGlobalPos
	Previous position since last haptic computation. More...

cMatrix3d	m_prevGlobalRot
	Previous rotation since last haptic computation. More...

cVector3d	m_boundaryBoxMin
	Minimum position of boundary box. More...

cVector3d	m_boundaryBoxMax
	Maximum position of boundary box. More...

bool	m_boundaryBoxEmpty
	If true, then the boundary box does not include any object. More...

double	m_frameSize
	Size of graphical representation of frame (X-Y-Z). More...

double	m_frameThicknessScale
	Pen thickness of graphical representation of frame (X-Y-Z). More...

bool	m_enabled
	If true, the object may be rendered graphically and haptically. More...

bool	m_showEnabled
	If true, this object is rendered. More...

bool	m_hapticEnabled
	If true, this object can be felt. More...

bool	m_ghostEnabled
	If true, object is enabled as ghost. More...

bool	m_showFrame
	If true, this object's reference frame is rendered as a set of arrows. More...

bool	m_showBoundaryBox
	If true, this object's boundary box is displayed as a set of lines. More...

bool	m_showCollisionDetector
	If true, the collision detector is displayed (if available) at this node. More...

bool	m_useTextureMapping
	Should texture mapping be used? More...

bool	m_useMaterialProperty
	Should material properties be used? More...

bool	m_useVertexColors
	Should per-vertex colors be used? More...

bool	m_useDisplayList
	Should we use a display list to render this mesh? More...

cDisplayList	m_displayList
	Basic display list for current object. More...

int	m_triangleMode
	The polygon rendering mode (GL_FILL or GL_LINE). More...

bool	m_useTransparency

bool	m_cullingEnabled

cShaderProgramPtr	m_shaderProgram
	Shader program. More...

cTransform	m_frameGL
	OpenGL matrix describing my position and orientation transformation. More...

cGenericCollision *	m_collisionDetector
	The collision detector used to test for contact with this object. More...

std::vector< cGenericEffect * >	m_effects
	List of haptic effects programmed for this object. More...

Additional Inherited Members
Static Public Attributes inherited from chai3d::cGenericObject
static cColorf	s_boundaryBoxColor
	Color of the boundary box. More...

Static Protected Attributes inherited from chai3d::cGenericObject
static cMaterialPtr	s_defaultMaterial = nullptr
	Default material property. More...

Detailed Description

cCamera implements a virtual camera located inside the world. Its job is to set up the OpenGL projection matrix for the current OpenGL rendering context. The default camera looks down the negative x-axis.

cCamera also includes front and back layers for rendering 2D widgets. The back layer is rendered first, followed by the main scenegraph (world) containing all 3d objects. Finally the front layer is rendered at the very end. Layers are rendered through an orthographic projection matrix, so the positive z axis faces the camera. Depth is currently not used. Lighting is disabled during rendering.

Constructor & Destructor Documentation

chai3d::cCamera::cCamera ( cWorld * a_parentWorld )

Constructor of cCamera.

Parameters

a_parentWorld Parent world.

chai3d::cCamera::~cCamera ( )

virtual

Destructor of cCamera.
Deletes all widgets, so if you have objects that shouldn't be deleted, be sure to remove them from the scene graph before deleting their parents.

Member Function Documentation

cWorld* chai3d::cCamera::getParentWorld ( )

inline

bool chai3d::cCamera::selectWorld	(	const int	a_windowPosX,
		const int	a_windowPosY,
		const int	a_windowWidth,
		const int	a_windowHeight,
		cCollisionRecorder &	a_collisionRecorder,
		cCollisionSettings &	a_collisionSettings
	)

virtual

This method checks for collision detection between an x-y position (typically a mouse click) and an object in the scene.

Parameters

a_windowPosX	X coordinate position of mouse click.
a_windowPosY	Y coordinate position of mouse click.
a_windowWidth	Width of window display (pixels)
a_windowHeight	Height of window display (pixels)
a_collisionRecorder	Recorder used to store all collisions between mouse and objects
a_collisionSettings	Settings related to collision detection

Returns: true if an object has been hit, false otherwise.

bool chai3d::cCamera::selectFrontLayer	(	const int	a_windowPosX,
		const int	a_windowPosY,
		const int	a_windowWidth,
		const int	a_windowHeight,
		cCollisionRecorder &	a_collisionRecorder,
		cCollisionSettings &	a_collisionSettings
	)

virtual

This method checks for collision detection between an x-y position (typically a mouse click) and a widget on the front layer. The (0,0) coordinate is located at the bottom left pixel on the screen.

Parameters

a_windowPosX	X coordinate position of mouse click.
a_windowPosY	Y coordinate position of mouse click.
a_windowWidth	Width of window display (pixels)
a_windowHeight	Height of window display (pixels)
a_collisionRecorder	Recorder used to store all collisions between mouse and objects
a_collisionSettings	Settings related to collision detection

Returns: true if an object has been hit, otherwise false.

bool chai3d::cCamera::selectBackLayer	(	const int	a_windowPosX,
		const int	a_windowPosY,
		const int	a_windowWidth,
		const int	a_windowHeight,
		cCollisionRecorder &	a_collisionRecorder,
		cCollisionSettings &	a_collisionSettings
	)

virtual

This method checks for collision detection between an x-y position (typically a mouse click) and a widget on the back layer. The (0,0) coordinate is located at the bottom left pixel on the screen.

Parameters

a_windowPosX	X coordinate position of mouse click.
a_windowPosY	Y coordinate position of mouse click.
a_windowWidth	Width of window display (pixels)
a_windowHeight	Height of window display (pixels)
a_collisionRecorder	Recorder used to store all collisions between mouse and objects
a_collisionSettings	Settings related to collision detection

Returns: true if an object has been hit, otherwise false.

bool chai3d::cCamera::selectLayers	(	const int	a_windowPosX,
		const int	a_windowPosY,
		const int	a_windowWidth,
		const int	a_windowHeight,
		cCollisionRecorder &	a_collisionRecorder,
		cCollisionSettings &	a_collisionSettings,
		bool	a_checkFrontLayer = `true`,
		bool	a_checkBackLayer = `true`
	)

virtual

This method checks for collision detection between an x-y position (typically a mouse click) and a widget on the front layer. The (0,0) coordinate is located at the bottom left pixel on the screen.

Parameters

a_windowPosX	X coordinate position of mouse click.
a_windowPosY	Y coordinate position of mouse click.
a_windowWidth	Width of window display (pixels)
a_windowHeight	Height of window display (pixels)
a_collisionRecorder	Recorder used to store all collisions between mouse and objects
a_collisionSettings	Settings related to collision detection
a_checkFrontLayer	If true, select front layer.
a_checkBackLayer	If true, select back layer.

Returns: true if an object has been hit, otherwise false.

bool chai3d::cCamera::set	(	const cVector3d &	a_localPosition,
		const cVector3d &	a_localLookAt,
		const cVector3d &	a_localUp
	)

virtual

This method sets the position and orientation of the camera. Three vectors are required and passed by argument:
a_localPosition describes the position in local coordinates of the camera.
a_localLookAt describes a point at which the camera is looking at.

a_localUp orients the camera around its rolling axis. This vector always points to the top of the camera output image.
These vectors are used in the usual gluLookAt() sense.

Parameters

a_localPosition	The position of the camera in local coordinates
a_localLookAt	The Point in local space at which the camera looks
a_localUp	A vector giving the rolling orientation (points toward the top of the image)

cVector3d chai3d::cCamera::getLookVector ( ) const

inline

cVector3d chai3d::cCamera::getUpVector ( ) const

inline

cVector3d chai3d::cCamera::getRightVector ( ) const

inline

void chai3d::cCamera::setSphericalRad	(	const double &	a_radius,
		const double &	a_polarRad,
		const double &	a_azimuthRad
	)

This method sets the position and orientation of the camera in spherical coordinates. Angles are expressed in radians.

Parameters

a_radius	Distance from origin.
a_polarRad	Polar angle in radians.
a_azimuthRad	Azimuth angle in radians.

void chai3d::cCamera::setSphericalDeg	(	const double &	a_radius,
		const double &	a_polarDeg,
		const double &	a_azimuthDeg
	)

This method sets the position and orientation of the camera in spherical coordinates. Angles are expressed in degrees.

Parameters

a_radius	Distance from origin.
a_polarDeg	Polar angle in degrees.
a_azimuthDeg	Azimuth angle in degrees.

void chai3d::cCamera::setSphericalReferences	(	const cVector3d &	a_originReference,
		const cVector3d &	a_zenithReference,
		const cVector3d &	a_azimuthReference
	)

This method set the reference vectors that define the basis of the spherical coordinate system.

Parameters

a_originReference	Origin of reference system.
a_zenithReference	Zenith direction vector.
a_azimuthReference	Azimuth direction vector.

void chai3d::cCamera::setSphericalRadius ( const double & a_radius )

This method sets the radius position of the camera (spherical coordinates).

Parameters

a_radius Distance from origin.

double chai3d::cCamera::getSphericalRadius ( )

inline

void chai3d::cCamera::setSphericalPolarRad ( const double & a_polarRad )

This method sets the polar position of the camera in radians (spherical coordinates).

Parameters

a_polarRad Polar angle in radians.

double chai3d::cCamera::getSphericalPolarRad ( )

inline

void chai3d::cCamera::setSphericalPolarDeg ( const double & a_polarDeg )

This method sets the polar position of the camera in degrees (spherical coordinates).

Parameters

a_polarDeg Polar angle in degrees.

double chai3d::cCamera::getSphericalPolarDeg ( )

inline

void chai3d::cCamera::setSphericalAzimuthRad ( const double & a_azimuthRad )

This method sets the azimuth position of the camera in radians (spherical coordinates).

Parameters

a_azimuthRad Azimuth angle in radians.

double chai3d::cCamera::getSphericalAzimuthRad ( )

inline

void chai3d::cCamera::setSphericalAzimuthDeg ( const double & a_azimuthDeg )

This method sets the azimuth position of the camera in degrees (spherical coordinates).

Parameters

a_azimuthDeg Azimuth angle in degrees.

double chai3d::cCamera::getSphericalAzimuthDeg ( )

inline

void chai3d::cCamera::setSphericalZenithReference ( const cVector3d & a_zenithReference )

This method sets the zenith reference direction vector of the camera (spherical coordinates).

Parameters

a_zenithReference Zenith reference direction.

cVector3d chai3d::cCamera::getSphericalZenithReference ( )

inline

void chai3d::cCamera::setSphericalAzimuthReference ( const cVector3d & a_azimuthReference )

This method sets the azimuth reference direction vector of the camera (spherical coordinates).

Parameters

a_azimuthReference Azimuth reference direction.

cVector3d chai3d::cCamera::getSphericalAzimuthReference ( )

inline

void chai3d::cCamera::setSphericalOriginReference ( const cVector3d & a_originReference )

This method sets the origin target point of the camera (spherical coordinates).

Parameters

a_originReference Origin reference point.

cVector3d chai3d::cCamera::getSphericalOriginReference ( )

inline

void chai3d::cCamera::setClippingPlanes	(	const double	a_distanceNear,
		const double	a_distanceFar
	)

This method sets the positions of the near and far clip planes.

Parameters

a_distanceNear	Distance to near clipping plane.
a_distanceFar	Distance to far clipping plane.

double chai3d::cCamera::getNearClippingPlane ( )

inline

double chai3d::cCamera::getFarClippingPlane ( )

inline

void chai3d::cCamera::adjustClippingPlanes ( )

This method automatically adjusts the front and back clipping planes to optimize usage of the z-buffer.

void chai3d::cCamera::setOrthographicView ( double a_viewWidth )

This method sets the camera in orthographic mode.

Parameters

a_viewWidth Width of orthographic view.

void chai3d::cCamera::setFieldViewAngleDeg ( double a_fieldViewAngleDeg )

This method sets the field of view angle in degrees. This call sets the camera in perspective mode.

Parameters

a_fieldViewAngleDeg Field of view angle in degrees (0-180).

double chai3d::cCamera::getFieldViewAngleDeg ( )

inline

void chai3d::cCamera::setFieldViewAngleRad ( double a_fieldViewAngleRad )

inline

double chai3d::cCamera::getFieldViewAngleRad ( )

inline

double chai3d::cCamera::getAspectRatio ( )

This method returns the aspect ratio of output image.

Returns: Aspect ratio of image. Returns 1.0 if value cannot be computed.

void chai3d::cCamera::setStereoFocalLength ( double a_stereoFocalLength )

This method sets the stereo focal length.

Parameters

a_stereoFocalLength Focal length.

double chai3d::cCamera::getStereoFocalLength ( )

inline

void chai3d::cCamera::setStereoEyeSeparation ( double a_stereoEyeSeparation )

This method sets the stereo eye separation.

Parameters

a_stereoEyeSeparation Distance between the left and right eyes.

double chai3d::cCamera::getStereoEyeSeparation ( )

inline

void chai3d::cCamera::renderView	(	const int	a_windowWidth,
		const int	a_windowHeight,
		const cEyeMode	a_eyeMode = `C_STEREO_LEFT_EYE`,
		const bool	a_defaultBuffer = `true`
	)

virtual

This method renders the scene viewed by the camera.

Parameters

a_windowWidth	Width of viewport.
a_windowHeight	Height of viewport.
a_eyeMode	When using stereo mode C_STEREO_PASSIVE_DUAL_DISPLAY, specifies which eye view to render.
a_defaultBuffer	If true then the scene is rendered in the default OpenGL buffer. If __false_ then the scene is rendered in a framebuffer (cFrameBuffer) that will have been previously setup.

void chai3d::cCamera::copyImageBuffer ( cImagePtr a_image )

This method copies the OpenGL image buffer to a cImage class structure.

Parameters

a_image Destination image.

void chai3d::cCamera::setUseMultipassTransparency ( bool a_enabled )

virtual

This method enables or disables multipass transparency. When this option is enabled (it's disabled by default), each time the camera is asked to render the scene, it will perform three rendering passes: a pass for non-transparent items, a pass for the back faces of transparent items, and a pass for the front faces of transparent items.
Objects being rendered are told which pass is current via the parameter supplied to the render() function.

Parameters

a_enabled If true, multipass is enabled, false otherwise.

bool chai3d::cCamera::getUseMultipassTransparency ( )

inline

int chai3d::cCamera::getDisplayWidth ( )

inline

int chai3d::cCamera::getDisplayHeight ( )

inline

void chai3d::cCamera::updateGPU ( )

This method updates all display lists and textures to the GPU.

void chai3d::cCamera::setStereoMode ( cStereoMode a_stereoMode )

virtual

This method sets the 3D stereo rendering mode. The following rendering modes are supported:

C_STEREO_ACTIVE: Active stereo, requires OpenGL quad buffers.
C_STEREO_PASSIVE_LEFT_RIGHT: Passive stereo. Left and Right eye images are rendered next to each other.
C_STEREO_PASSIVE_TOP_BOTTOM: Passive stereo. Left and Right eye images are rendered above each other.
C_STEREO_DISABLED: Disable stereo.
C_STEREO_PASSIVE_DUAL_DISPLAY: Passive stereo. Left and Right eye images are rendered in different framebuffers or viewports.

Parameters

a_stereoMode Stereo mode.

cStereoMode chai3d::cCamera::getStereoMode ( )

inline

void chai3d::cCamera::setMirrorHorizontal ( bool a_enabled )

This method enables or disables the output image mirroring horizontally.

Parameters

a_enabled If true_ then mirroring is enabled, __false otherwise.

void chai3d::cCamera::setMirrorVertical ( bool a_enabled )

This method enables or disables the output image mirroring vertically.

Parameters

a_enabled If true_ then mirroring is enabled, __false otherwise.

bool chai3d::cCamera::getMirrorHorizontal ( )

inline

bool chai3d::cCamera::getMirrorVertical ( )

inline

void chai3d::cCamera::attachAudioDevice ( cAudioDevice * a_audioDevice )

inline

void chai3d::cCamera::detachAudioDevice ( )

inline

void chai3d::cCamera::renderLayer	(	cGenericObject *	a_graph,
		int	a_width,
		int	a_height
	)

protected

This method renders a 2D scene within the viewport.

Parameters

a_graph	The root of the 2d scenegraph to be rendered.
a_width	The size of the rendering window
a_height	The size of the rendering window

Member Data Documentation

cTransform chai3d::cCamera::m_projectionMatrix

cTransform chai3d::cCamera::m_modelViewMatrix

bool chai3d::cCamera::m_useCustomProjectionMatrix

bool chai3d::cCamera::m_useCustomModelViewMatrix

cWorld* chai3d::cCamera::m_frontLayer

cWorld* chai3d::cCamera::m_backLayer

cDirectionalLight* chai3d::cCamera::m_lightFrontLayer

cDirectionalLight* chai3d::cCamera::m_lightBackLayer

cWorld* chai3d::cCamera::m_parentWorld

protected

double chai3d::cCamera::m_distanceNear

protected

double chai3d::cCamera::m_distanceFar

protected

double chai3d::cCamera::m_fieldViewAngleDeg

protected

double chai3d::cCamera::m_orthographicWidth

protected

bool chai3d::cCamera::m_perspectiveMode

protected

bool chai3d::cCamera::m_useMultipassTransparency

protected

bool chai3d::cCamera::m_useShadowCasting

protected

double chai3d::cCamera::m_stereoFocalLength

protected

double chai3d::cCamera::m_stereoEyeSeparation

protected

cStereoMode chai3d::cCamera::m_stereoMode

protected

unsigned int chai3d::cCamera::m_lastDisplayWidth

protected

unsigned int chai3d::cCamera::m_lastDisplayHeight

protected

bool chai3d::cCamera::m_markForUpdate

protected

bool chai3d::cCamera::m_mirrorHorizontal

protected

bool chai3d::cCamera::m_mirrorVertical

protected

bool chai3d::cCamera::m_mirrorStatus

protected

double chai3d::cCamera::m_scaleH

protected

double chai3d::cCamera::m_scaleV

protected

double chai3d::cCamera::m_posPolarRad

protected

double chai3d::cCamera::m_posAzimuthRad

protected

double chai3d::cCamera::m_posRadius

protected

cVector3d chai3d::cCamera::m_zenithReference

protected

cVector3d chai3d::cCamera::m_azimuthReference

protected

cVector3d chai3d::cCamera::m_originReference

protected

cAudioDevice* chai3d::cCamera::m_audioDevice

protected

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

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation