# Scenegraph

## Classes
struct | cClippingPlane
| Struct used for enabling arbitrary clipping planes after the viewing matrix has been set up. More...
class | cCamera
| cCamera describes a virtual Camera located inside the world. Its job in life is to set up the OpenGL projection matrix for the current OpenGL rendering context. The default camera looks down the negative x-axis. OpenGL folks may wonder why we chose the negative x-axis... it turns out that's a better representation of the standard conventions used in general robotics. More...
class | cGenericObject
| This class is the root of basically every render-able object in CHAI. It defines a reference frame (position and rotation) and virtual methods for rendering, which are overloaded by useful subclasses. . More...
class | cLight
| cLight describes an OpenGL light source, generally rendered by a cWorld object, which is typically the top of a scene graph. By default, lights are directional and non-spot. More...
class | cMesh
| cMesh represents a collection of vertices, triangles, materials, and texture properties that can be rendered graphically and haptically. More...
class | cShapeLine
| cShapeLine describes a simple line potential field More...
class | cShapeSphere
| Implementation of a virtual sphere shape. More...
class | cShapeTorus
| cShapeTorus describes a simple torus potential field. More...
class | cWorld
| cWorld defines the typical root of the CHAI scene graph. It stores lights, allocates textures, and serves as the root for scene-wide collision detection. More...

CHAI3D 2.0.0 documentation
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