Visual Servoing Platform  version 3.5.1 under development (2022-09-25)
vpScene.h
1 /****************************************************************************
2  *
3  * ViSP, open source Visual Servoing Platform software.
4  * Copyright (C) 2005 - 2019 by Inria. All rights reserved.
5  *
6  * This software is free software; you can redistribute it and/or modify
7  * it under the terms of the GNU General Public License as published by
8  * the Free Software Foundation; either version 2 of the License, or
9  * (at your option) any later version.
10  * See the file LICENSE.txt at the root directory of this source
11  * distribution for additional information about the GNU GPL.
12  *
13  * For using ViSP with software that can not be combined with the GNU
14  * GPL, please contact Inria about acquiring a ViSP Professional
15  * Edition License.
16  *
17  * See http://visp.inria.fr for more information.
18  *
19  * This software was developed at:
20  * Inria Rennes - Bretagne Atlantique
21  * Campus Universitaire de Beaulieu
22  * 35042 Rennes Cedex
23  * France
24  *
25  * If you have questions regarding the use of this file, please contact
26  * Inria at visp@inria.fr
27  *
28  * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
29  * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
30  *
31  * Description:
32  *
33  * Authors:
34  * Jean-Luc CORRE
35  *
36  *****************************************************************************/
37 
38 #ifndef vpScene_h
39 #define vpScene_h
40 
41 #include <visp3/core/vpConfig.h>
42 
43 #ifndef DOXYGEN_SHOULD_SKIP_THIS
44 
45 #include "vpBound.h"
46 #include <visp3/core/vpHomogeneousMatrix.h>
47 #include <visp3/robot/vpWireFrameSimulatorTypes.h>
48 
49 // Inventor includes
50 #if defined(VISP_HAVE_COIN3D)
51 #include <Inventor/VRMLnodes/SoVRMLCoordinate.h>
52 #include <Inventor/VRMLnodes/SoVRMLGroup.h>
53 #include <Inventor/VRMLnodes/SoVRMLIndexedFaceSet.h>
54 #include <Inventor/VRMLnodes/SoVRMLIndexedLineSet.h>
55 #include <Inventor/VRMLnodes/SoVRMLShape.h>
56 #include <Inventor/actions/SoGetMatrixAction.h>
57 #include <Inventor/actions/SoGetPrimitiveCountAction.h>
58 #include <Inventor/actions/SoSearchAction.h>
59 #include <Inventor/actions/SoToVRML2Action.h>
60 #include <Inventor/actions/SoWriteAction.h>
61 #include <Inventor/misc/SoChildList.h>
62 #include <Inventor/nodes/SoSeparator.h>
63 
64 #include <list>
65 #include <vector>
66 
67 typedef struct indexFaceSet {
68  indexFaceSet() : nbPt(0), pt(), nbIndex(0), index(){};
69  int nbPt;
70  std::vector<vpPoint> pt;
71  int nbIndex;
72  std::vector<int> index;
73 } indexFaceSet;
74 
75 #endif
76 
77 typedef enum { BND_MODEL, WRL_MODEL, UNKNOWN_MODEL } Model_3D;
78 
79 Model_3D getExtension(const char *file);
80 void set_scene_wrl(const char *str, Bound_scene *sc, float factor);
81 void set_scene(const char *, Bound_scene *, float);
82 void vp2jlc_matrix(const vpHomogeneousMatrix &, Matrix &);
83 
84 #if defined(VISP_HAVE_COIN3D)
85 void extractFaces(SoVRMLIndexedFaceSet *face_set, indexFaceSet *ifs);
86 void ifsToBound(Bound *, std::list<indexFaceSet *> &);
87 void destroyIfs(std::list<indexFaceSet *> &);
88 #endif
89 
90 #endif
91 #endif
Implementation of an homogeneous matrix and operations on such kind of matrices.