Webots Reference Manual - chapter 3 - section 52

Webots Reference Manual


3.52 Viewpoint

Viewpoint {
  SFFloat      fieldOfView    0.785398  # (0,pi)
  SFRotation   orientation    0 0 1 0   # 3D unit vector, angle (rad)
  SFVec3f      position       0 0 0     # 3D vector
  SFString     description    ""
  SFFloat      near           0.05      # [0,inf)
  SFString     follow         ""
}

The Viewpoint node defines a specific location in the local coordinate system from which the user may view the scene.

The position and orientation fields of the Viewpoint node specify absolute locations in the coordinate system. In the default position and orientation, the viewer is on the z-axis, looking down the -z-axis toward the origin with +x to the right and +y straight up.

Navigating in the 3D view by dragging the mouse pointer dynamically changes the position and the orientation fields of the Viewpoint node.

The fieldOfView field specifies the viewing angle in radians. A small field of view roughly corresponds to a telephoto lens; a large field of view roughly corresponds to a wide-angle lens.

The near field defines the distance from the camera to the near clipping plane. This plane is parallel to the projection plane for the 3D display in the main window. The near field determines the precision of the OpenGL depth buffer. A too small value may cause depth fighting between overlaid polygons, resulting in random polygon overlaps. The far clipping plane is parallel to the near clipping plane and is defined at an infinite distance from the camera. The far clipping plane distance cannot be modified.

The near and the fieldOfView fields define together the viewing frustum. Any 3D shape outside this frustum won't be rendered. Hence, shapes too close (standing between the camera and the near plane) won't appear.

The follow field can be used to specify the name of a robot (or other object) that the viewpoint needs to follow during the simulation. If the string is empty, or if it does not correspond to any object, then the viewpoint will remain fixed. The follow field is modified by the View > Follow Object menu item.

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