SLProject  4.2.000
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Public Member Functions | Private Attributes | List of all members
AppDemoSceneRobot Class Reference

Class for a robot arm test scene. More...

#include <AppDemoSceneRobot.h>

Inheritance diagram for AppDemoSceneRobot:
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Public Member Functions

 AppDemoSceneRobot ()
 
void registerAssetsToLoad (SLAssetLoader &al) override
 All scene specific assets have to be registered for async loading in here. More...
 
void assemble (SLAssetManager *am, SLSceneView *sv) override
 After parallel loading of the assets the scene gets assembled in here. More...
 
- Public Member Functions inherited from SLScene
 SLScene (const SLstring &name)
 
 ~SLScene () override
 
void initOculus (SLstring shaderDir)
 
void root3D (SLNode *root3D)
 
void root2D (SLNode *root2D)
 
void skybox (SLSkybox *skybox)
 
void stopAnimations (SLbool stop)
 
void info (SLstring i)
 
void loadTimeMS (SLfloat loadTimeMS)
 
SLAnimManager & animManager ()
 
SLAssetManager * assetManager ()
 
SLNode * root3D ()
 
SLNode * root2D ()
 
SLSkybox * skybox ()
 
SLstring & info ()
 
SLfloat elapsedTimeMS () const
 
SLfloat elapsedTimeSec () const
 
SLVEventHandler & eventHandlers ()
 
SLfloat loadTimeMS () const
 
SLVLight & lights ()
 
SLfloat fps () const
 
AvgFloat & frameTimesMS ()
 
AvgFloat & updateTimesMS ()
 
AvgFloat & updateAnimTimesMS ()
 
AvgFloat & updateAABBTimesMS ()
 
AvgFloat & updateDODTimesMS ()
 
SLNode * singleNodeSelected ()
 Returns the node if only one is selected. See also SLMesh::selectNodeMesh. More...
 
SLMesh * singleMeshFullSelected ()
 Returns the node if only one is selected. See also SLMesh::selectNodeMesh. More...
 
SLVNode & selectedNodes ()
 
SLVMesh & selectedMeshes ()
 
SLbool stopAnimations () const
 
SLint numSceneCameras ()
 Returns the number of camera nodes in the scene. More...
 
SLCamera * nextCameraInScene (SLCamera *activeSVCam)
 Returns the next camera in the scene if there is one. More...
 
bool onUpdate (bool renderTypeIsRT, bool voxelsAreShown, bool forceCPUSkinning)
 Updates animations and AABBs. More...
 
void init (SLAssetManager *am)
 
virtual void unInit ()
 
void selectNodeMesh (SLNode *nodeToSelect, SLMesh *meshToSelect)
 Handles the full mesh selection from double-clicks. More...
 
void deselectAllNodesAndMeshes ()
 Deselects all nodes and its meshes. More...
 
SLGLOculus * oculus ()
 
- Public Member Functions inherited from SLObject
 SLObject (const SLstring &Name="", const SLstring &url="")
 
virtual ~SLObject ()
 
void name (const SLstring &Name)
 
void url (const SLstring &url)
 
const SLstring & name () const
 
const SLstring & url () const
 

Private Attributes

SLNode * _robot
 

Additional Inherited Members

- Protected Attributes inherited from SLScene
SLVLight _lights
 Vector of all lights. More...
 
SLVEventHandler _eventHandlers
 Vector of all event handler. More...
 
SLAnimManager _animManager
 Animation manager instance. More...
 
SLAssetManager * _assetManager
 Pointer to the external assetManager. More...
 
SLNode * _root3D
 Root node for 3D scene. More...
 
SLNode * _root2D
 Root node for 2D scene displayed in ortho projection. More...
 
SLSkybox * _skybox
 pointer to skybox More...
 
SLstring _info
 scene info string More...
 
SLVNode _selectedNodes
 Vector of selected nodes. See SLMesh::selectNodeMesh. More...
 
SLVMesh _selectedMeshes
 Vector of selected meshes. See SLMesh::selectNodeMesh. More...
 
SLfloat _loadTimeMS
 time to load scene in ms More...
 
SLfloat _frameTimeMS
 Last frame time in ms. More...
 
SLfloat _lastUpdateTimeMS
 Last time after update in ms. More...
 
SLfloat _fps
 Averaged no. of frames per second. More...
 
AvgFloat _frameTimesMS
 Averaged total time per frame in ms. More...
 
AvgFloat _updateTimesMS
 Averaged time for update in ms. More...
 
AvgFloat _updateAABBTimesMS
 Averaged time for update the nodes AABB in ms. More...
 
AvgFloat _updateAnimTimesMS
 Averaged time for update the animations in ms. More...
 
AvgFloat _updateDODTimesMS
 Averaged time for update the SLEntities graph. More...
 
SLbool _stopAnimations
 Global flag for stopping all animations. More...
 
std::unique_ptr< SLGLOculus > _oculus
 Oculus Rift interface. More...
 
- Protected Attributes inherited from SLObject
SLstring _name
 name of an object More...
 
SLstring _url
 uniform resource locator More...
 

Detailed Description

Class for a robot arm test scene.

Definition at line 20 of file AppDemoSceneRobot.h.

Constructor & Destructor Documentation

◆ AppDemoSceneRobot()

AppDemoSceneRobot::AppDemoSceneRobot ( )

Definition at line 20 of file AppDemoSceneRobot.cpp.

21  : SLScene("GLTF File Demo Scene")
22 {
23  info("Fanuc-CRX Robot with forward kinematic movement.");
24 }
SLScene::SLScene
SLScene(const SLstring &name)
Definition: SLScene.cpp:39
SLScene::info
SLstring & info()
Definition: SLScene.h:102

Member Function Documentation

◆ assemble()

void AppDemoSceneRobot::assemble ( SLAssetManager *  am,
SLSceneView *  sv 
)
overridevirtual

After parallel loading of the assets the scene gets assembled in here.

Remarks
All scene-specific assets have to be loaded async by overriding SLScene::registerAssetsToLoad and SLScene::assemble. Async loading and assembling means that it happens in a parallel thread and that in there are no OpenGL calls allowed. OpenGL calls are only allowed in the main thread. It is important that all object instantiations within SLScene::assemble do NOT call any OpenGL functions (gl*) because they happen in a parallel thread. All objects that get rendered have to do their initialization when they are used the first time during rendering in the main thread.

Reimplemented from SLScene.

Definition at line 35 of file AppDemoSceneRobot.cpp.

36 {
37  // Create a scene group node
38  SLNode* scene = new SLNode("scene node");
39  this->root3D(scene);
40 
41  // Create camera and initialize its parameters
42  SLCamera* cam1 = new SLCamera("Camera 1");
43  cam1->translation(0, 0.5f, 2.0f);
44  cam1->lookAt(0, 0.5f, 0);
45  cam1->background().colors(SLCol4f(0.7f, 0.7f, 0.7f),
46  SLCol4f(0.2f, 0.2f, 0.2f));
47  cam1->focalDist(2);
48  cam1->setInitialState();
49  scene->addChild(cam1);
50 
51  // Define directional
52  SLLightDirect* light1 = new SLLightDirect(am,
53  this,
54  2,
55  2,
56  2,
57  0.2f,
58  0.6f,
59  0.8f,
60  1);
61  light1->lookAt(0, 0, 0);
62  light1->attenuation(1, 0, 0);
63  light1->createsShadows(true);
64  light1->createShadowMap(1,
65  7,
66  SLVec2f(5, 5),
67  SLVec2i(2048, 2048));
68  light1->doSmoothShadows(true);
69  light1->castsShadows(false);
70  scene->addChild(light1);
71 
72  SLMaterial* matFloor = new SLMaterial(am,
73  "matFloor",
74  SLCol4f::WHITE * 0.5f);
75  matFloor->ambient(SLCol4f::WHITE * 0.3f);
76  SLMesh* rectangle = new SLRectangle(am,
77  SLVec2f(-2, -2),
78  SLVec2f(2, 2),
79  1,
80  1,
81  "rectangle",
82  matFloor);
83  SLNode* floorRect = new SLNode(rectangle);
84  floorRect->rotate(90, -1, 0, 0);
85  scene->addChild(floorRect);
86 
87  // Set missing specular color
88  _robot->updateMeshMat([](SLMaterial* m) { m->specular(SLCol4f::WHITE); },
89  true);
90 
91  SLNode* crx_j1 = _robot->findChild<SLNode>("crx_j1");
92  SLNode* crx_j2 = _robot->findChild<SLNode>("crx_j2");
93  SLNode* crx_j3 = _robot->findChild<SLNode>("crx_j3");
94  SLNode* crx_j4 = _robot->findChild<SLNode>("crx_j4");
95  SLNode* crx_j5 = _robot->findChild<SLNode>("crx_j5");
96  SLNode* crx_j6 = _robot->findChild<SLNode>("crx_j6");
97 
98  SLfloat angleDEG = 45;
99  SLfloat durationSEC = 3.0f;
100 
101  SLAnimation* j1Anim = animManager().createNodeAnimation("j1Anim",
102  durationSEC,
103  true,
104  EC_inOutCubic,
105  AL_pingPongLoop);
106  j1Anim->createNodeAnimTrackForRotation3(crx_j1,
107  -angleDEG,
108  0,
109  angleDEG,
110  crx_j1->axisYOS());
111 
112  SLAnimation* j2Anim = animManager().createNodeAnimation("j2Anim",
113  durationSEC,
114  true,
115  EC_inOutCubic,
116  AL_pingPongLoop);
117  j2Anim->createNodeAnimTrackForRotation3(crx_j2,
118  -angleDEG,
119  0,
120  angleDEG,
121  -crx_j2->axisZOS());
122 
123  SLAnimation* j3Anim = animManager().createNodeAnimation("j3Anim",
124  durationSEC,
125  true,
126  EC_inOutCubic,
127  AL_pingPongLoop);
128  j3Anim->createNodeAnimTrackForRotation3(crx_j3,
129  angleDEG,
130  0,
131  -angleDEG,
132  -crx_j3->axisZOS());
133 
134  SLAnimation* j4Anim = animManager().createNodeAnimation("j4Anim",
135  durationSEC,
136  true,
137  EC_inOutCubic,
138  AL_pingPongLoop);
139  j4Anim->createNodeAnimTrackForRotation3(crx_j4,
140  -2 * angleDEG,
141  0,
142  2 * angleDEG,
143  crx_j4->axisXOS());
144 
145  SLAnimation* j5Anim = animManager().createNodeAnimation("j5Anim",
146  durationSEC,
147  true,
148  EC_inOutCubic,
149  AL_pingPongLoop);
150  j5Anim->createNodeAnimTrackForRotation3(crx_j5,
151  -2 * angleDEG,
152  0,
153  2 * angleDEG,
154  -crx_j5->axisZOS());
155 
156  SLAnimation* j6Anim = animManager().createNodeAnimation("j6Anim",
157  durationSEC,
158  true,
159  EC_inOutCubic,
160  AL_pingPongLoop);
161  j6Anim->createNodeAnimTrackForRotation3(crx_j6,
162  -2 * angleDEG,
163  0,
164  2 * angleDEG,
165  crx_j6->axisXOS());
166 
167  scene->addChild(_robot);
168 
169  sv->camera(cam1);
170  sv->doWaitOnIdle(true); // Saves energy
171 }
SLfloat
float SLfloat
Definition: SL.h:173
EC_inOutCubic
@ EC_inOutCubic
cubic easing in and then out
Definition: SLEnums.h:188
AL_pingPongLoop
@ AL_pingPongLoop
loop forward and backwards
Definition: SLEnums.h:171
SLVec2i
SLVec2< SLint > SLVec2i
Definition: SLVec2.h:140
SLVec2f
SLVec2< SLfloat > SLVec2f
Definition: SLVec2.h:141
SLCol4f
SLVec4< SLfloat > SLCol4f
Definition: SLVec4.h:237
SLAnimManager::createNodeAnimation
SLAnimation * createNodeAnimation(SLfloat duration)
Definition: SLAnimManager.cpp:48
SLAnimation
SLAnimation is the base container for all animation data.
Definition: SLAnimation.h:33
SLAnimation::createNodeAnimTrackForRotation3
SLNodeAnimTrack * createNodeAnimTrackForRotation3(SLNode *target, SLfloat angleDeg0, SLfloat angleDeg1, SLfloat angleDeg2, const SLVec3f &axis)
Definition: SLAnimation.cpp:220
SLBackground::colors
void colors(const SLCol4f &uniformColor)
Sets a uniform background color.
Definition: SLBackground.cpp:71
SLCamera
Active or visible camera node class.
Definition: SLCamera.h:54
SLCamera::focalDist
void focalDist(const SLfloat f)
Definition: SLCamera.h:116
SLCamera::background
SLBackground & background()
Definition: SLCamera.h:165
SLLightDirect
SLLightDirect class for a directional light source.
Definition: SLLightDirect.h:40
SLLightDirect::createShadowMap
void createShadowMap(float clipNear=0.1f, float clipFar=20.0f, SLVec2f size=SLVec2f(8, 8), SLVec2i texSize=SLVec2i(1024, 1024)) override
Definition: SLLightDirect.cpp:212
SLLight::createsShadows
void createsShadows(SLbool createsShadows)
Definition: SLLight.cpp:98
SLLight::doSmoothShadows
void doSmoothShadows(SLbool doSS)
Definition: SLLight.h:126
SLLight::attenuation
void attenuation(const SLfloat kConstant, const SLfloat kLinear, const SLfloat kQuadratic)
Definition: SLLight.h:116
SLMaterial
Defines a standard CG material with textures and a shader program.
Definition: SLMaterial.h:56
SLMaterial::specular
void specular(const SLCol4f &spec)
Definition: SLMaterial.h:173
SLMaterial::ambient
void ambient(const SLCol4f &ambi)
Definition: SLMaterial.h:170
SLMesh
An SLMesh object is a triangulated mesh, drawn with one draw call.
Definition: SLMesh.h:134
SLNode
SLNode represents a node in a hierarchical scene graph.
Definition: SLNode.h:147
SLNode::addChild
void addChild(SLNode *child)
Definition: SLNode.cpp:207
SLNode::translation
void translation(const SLVec3f &pos, SLTransformSpace relativeTo=TS_parent)
Definition: SLNode.cpp:828
SLNode::rotate
void rotate(const SLQuat4f &rot, SLTransformSpace relativeTo=TS_object)
Definition: SLNode.cpp:945
SLNode::castsShadows
void castsShadows(SLbool castsShadows)
Definition: SLNode.h:282
SLNode::findChild
T * findChild(const SLstring &name="", SLbool findRecursive=true)
Definition: SLNode.h:388
SLNode::setInitialState
void setInitialState()
Definition: SLNode.cpp:1084
SLNode::axisYOS
SLVec3f axisYOS() const
Definition: SLNode.h:513
SLNode::lookAt
void lookAt(SLfloat targetX, SLfloat targetY, SLfloat targetZ, SLfloat upX=0, SLfloat upY=1, SLfloat upZ=0, SLTransformSpace relativeTo=TS_world)
Definition: SLNode.h:652
SLNode::updateMeshMat
void updateMeshMat(std::function< void(SLMaterial *m)> setMat, bool recursive)
Updates the mesh material recursively with a material lambda.
Definition: SLNode.cpp:1161
SLRectangle
SLRectangle creates a rectangular mesh with a certain resolution.
Definition: SLRectangle.h:29
SLScene::root3D
SLNode * root3D()
Definition: SLScene.h:99
SLScene::SLNode
friend class SLNode
Definition: SLScene.h:48
SLScene::animManager
SLAnimManager & animManager()
Definition: SLScene.h:97
SLSceneView
SceneView class represents a dynamic real time 3D view onto the scene.
Definition: SLSceneView.h:69
SLSceneView::camera
void camera(SLCamera *camera)
Definition: SLSceneView.h:145
SLSceneView::doWaitOnIdle
void doWaitOnIdle(SLbool doWI)
Definition: SLSceneView.h:149
SLVec4< SLfloat >::WHITE
static SLVec4 WHITE
Definition: SLVec4.h:215

◆ registerAssetsToLoad()

void AppDemoSceneRobot::registerAssetsToLoad ( SLAssetLoader &  al)
overridevirtual

All scene specific assets have to be registered for async loading in here.

All assets the should be loaded in parallel must be registered in here.

Remarks
All scene sspecific assets have to be loaded async by overriding SLScene::registerAssetsToLoad and SLScene::assemble. Async loading and assembling means that it happens in a parallel thread and that in there are no OpenGL calls allowed. OpenGL calls are only allowed in the main thread.

Reimplemented from SLScene.

Definition at line 27 of file AppDemoSceneRobot.cpp.

28 {
29  al.addNodeToLoad(_robot,
30  AppCommon::modelPath +
31  "GLTF/FanucCRX/Fanuc-CRX.gltf");
32 }
AppCommon::modelPath
static SLstring modelPath
Path to 3D models.
Definition: AppCommon.h:85
SLAssetLoader::addNodeToLoad
void addNodeToLoad(SLNode *&node, const SLstring &modelPath, SLSkybox *skybox=nullptr, SLbool deleteTexImgAfterBuild=false, SLbool loadMeshesOnly=true, SLMaterial *overrideMat=nullptr, float ambientFactor=0.5f, SLbool forceCookTorranceRM=false, SLuint flags=SLProcess_Triangulate|SLProcess_JoinIdenticalVertices|SLProcess_RemoveRedundantMaterials|SLProcess_FindDegenerates|SLProcess_FindInvalidData|SLProcess_SplitLargeMeshes)
Add mesh from file to load via assimp loader.
Definition: SLAssetLoader.cpp:251

Member Data Documentation

◆ _robot

SLNode* AppDemoSceneRobot::_robot
private

Definition at line 46 of file AppDemoSceneRobot.h.

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