tinysg

Tiny Scene Graph (TinySG) is a lightweight and extensible scene graph manager. It is the successor of my SceneML project.

Features

• Lightweight scene graph.
• Scenes can be saved/loaded from fairly simple XML definitions.
• Fairly extensible scene and object queries supported through a plugin-type framework.
• Current plugins support collision and distance queries based on ODE and the Lin-Canny algorithm respectively.

To-do Features

• Finish porting SceneML's Matlab interface to TinySG
• Finish multithreading scene node update algorithm to take advantage of today's multi-core computers

Example of a XML scene description

TinySG supports virtually every primitive geometry supported by ODE (e.g. boxes, spheres, capsules, etc) as well as arbitrary user-defined meshes specified in either OBJ or STL file formats.

<?xml version="1.0" ?>
<TinySG version="0">
    <node name="_WORLD_">
        <position value="0 0 0" />
        <orientation format="AngleAxis" angle="0" axis="1 0 0" />
        <object name="lspace" type="ODESimpleSpace" />
        <object name="rspace" type="ODESimpleSpace" />
    </node>
    <node name="n1" parent="_WORLD_">
        <position value="1 1 0" />
        <orientation format="AngleAxis" angle="0" axis="1 0 0" />
    </node>
    <node name="n3" parent="n1">
        <position value="2 0 0" />
        <orientation format="AngleAxis" angle="0" axis="1 0 0" />
        <object name="asphere" type="ODESphere">
            <property name="radius" class="real" value="2" />
            <property name="space" class="scene_object_ptr" value="rspace" />
        </object>
    </node>
    <node name="n4" parent="n1">
        <position value="0 0 0" />
        <orientation format="AngleAxis" angle="0" axis="1 0 0" />
    </node>
    <node name="n2" parent="_WORLD_">
        <position value="2 1 0" />
        <orientation format="AngleAxis" angle="0" axis="1 0 0" />
        <object name="abox" type="ODEBox">
            <property name="length" class="real" value="1" />
            <property name="width" class="real" value="2" />
            <property name="height" class="real" value="3" />
            <property name="space" class="scene_object_ptr" value="lspace" />
        </object>
    </node>
</TinySG>