org.myrobotlab.mapper.sim

Class World

java.lang.Object

org.myrobotlab.mapper.sim.World

public class World
extends java.lang.Object

Represents a 3d world - this class use intensively JAVA3D. It creates the scenegraph and the view platform. The building process uses a EnvironmentDescription object containing colors , objects and attributes given by the user. This class is thighly coupled with Simulator Class. Remember to call System.setProperty("j3d.implicitAntialiasing", "true") at the very beginning of your program in order to enable antialiasing.

Field Summary

Fields

Modifier and Type	Field and Description
static int	VIEW_ABOVE_AGENT
static int	VIEW_ABOVE_AGENT_NEAR
static int	VIEW_AGENT_SIDE
static int	VIEW_BEHIND_AGENT
static int	VIEW_FROM_EAST
static int	VIEW_FROM_TOP

Constructor Summary

Constructors

Constructor and Description
World(EnvironmentDescription ed) Construct a World from a given EnvironmentDescription.

Method Summary

Modifier and Type	Method and Description
void	addObjectToPickableSceneBranch(BaseObject obj3d)
void	attach(BaseObject obj3d)
void	changeViewPoint(int type, SimpleAgent agent) Change the user view Point .
void	detach(BaseObject obj3d)
void	dispose() Destroy the java3d graph
javax.media.j3d.Canvas3D	getCanvas3D()
void	renderOnce() Do one rendering on main canvas 3D .
void	startRendering() Restart rendering on main canvas 3D .
void	stopRendering() Stop rendering on main canvas 3D .

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Detail

VIEW_FROM_TOP

public static final int VIEW_FROM_TOP

See Also:

Constant Field Values

VIEW_FROM_EAST

public static final int VIEW_FROM_EAST

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Constant Field Values

VIEW_BEHIND_AGENT

public static final int VIEW_BEHIND_AGENT

See Also:

Constant Field Values

VIEW_ABOVE_AGENT

public static final int VIEW_ABOVE_AGENT

See Also:

Constant Field Values

VIEW_ABOVE_AGENT_NEAR

public static final int VIEW_ABOVE_AGENT_NEAR

See Also:

Constant Field Values

VIEW_AGENT_SIDE

public static final int VIEW_AGENT_SIDE

See Also:

Constant Field Values

Constructor Detail

World

public World(EnvironmentDescription ed)

Construct a World from a given EnvironmentDescription.

Parameters:

ed - e

Method Detail

addObjectToPickableSceneBranch

public void addObjectToPickableSceneBranch(BaseObject obj3d)

attach

public void attach(BaseObject obj3d)

changeViewPoint

public void changeViewPoint(int type,
                            SimpleAgent agent)

Change the user view Point . Note that we modify the ViewBranch transform not the scene transform.

Parameters:

type - can be VIEW_FROM_TOP,VIEW_FROM_EAST,VIEW_BEHIND_AGENT

agent - : specify the agent if VIEW_BEHIND_AGENT The VIEW_BEHIND_AGENT case has to be called regularly because of the agent displacement.

detach

public void detach(BaseObject obj3d)

dispose

public void dispose()

Destroy the java3d graph

getCanvas3D

public javax.media.j3d.Canvas3D getCanvas3D()

Returns:

the canvas3D associated to the world view platform

renderOnce

public void renderOnce()

Do one rendering on main canvas 3D . Used for background mode.

startRendering

public void startRendering()

Restart rendering on main canvas 3D . Used for background mode.

stopRendering

public void stopRendering()

Stop rendering on main canvas 3D . Used for background mode.