2.4 The 3D Window
2.4.1 Selecting an object
A single mouse click allows to select a solid object. The bounding object of a selected solid is represented by white lines. These lines turn rose if the solid is colliding with another one. Selecting a robot enables the Show Robot Window item in the Tools menu. Double-clicking on a solid object opens the Scene Tree or Robot Window.
2.4.2 Navigation in the scene
Dragging the mouse while pressing a mouse button moves the camera of the 3D window.
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Camera rotation: In the 3D window, press the left button and drag the mouse to select an object and rotate the viewpoint about it. If no object is selected, the camera rotates about the origin of the world coordinate system.
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Camera translation: In the 3D window, press the right button and drag the mouse to translate the camera with the mouse motion.
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Zooming / Camera rotation: In the 3D window, press both left and right mouse buttons simultaneously (or just the middle button) and drag the mouse vertically, to zoom in and out. Dragging the mouse horizontally will rotate the camera about the viewing axis. Alternatively, the mouse wheel alone can also be used for zooming.
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2.4.3 Moving a solid object
To move an object: hold down the Shift key, then select the object and drag the mouse.
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Translation: To move an object parallel to the ground: hold down the shift key, press the left mouse button and drag.
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Rotation: To rotate an object: hold down the shift key, press the right mouse button and drag. The object's rotation axis (x, y or z) can be changed by releasing and quickly re-pressing the shift key.
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Lift: To raise or lower and object: hold down the Shift key, press both left and right mouse buttons (or the middle button) and drag. Alternatively, the mouse wheel combined with the Shift key can also be used.
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2.4.4 Applying a force to a solid object with physics
To apply a force to an object, place the mouse pointer where the force will apply, hold down the Alt key and left mouse button together while dragging the mouse. Linux users should also hold down the Control key (Ctrl) together with the Alt key. This way your are drawing a 3D-vector whose end is located in the plane parallel to the view which passes through the point of application. The intensity of the applied force is directly proportional to the cube of the length of this vector.
2.4.5 Applying a torque to a solid object with physics
To apply a torque to an object, place the mouse pointer on it, hold down the Alt key and right mouse button together while dragging the mouse. Linux users should also hold down the Control key (Ctrl) together with the Alt key. Also, Mac OS X users with a one-button mouse should hold down the Control key (Ctrl) to emulate the right mouse button. This way your are drawing a 3D-vector with origin the center of mass and whose end is located in the plane parallel to the view which passes through this center. The object is prompted to turn around the vector direction, the intensity of the applied torque being directly proportional to the product of the mass by the length of the 3D-vector.
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