Visual.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef GAZEBO_RENDERING_VISUAL_HH_
18 #define GAZEBO_RENDERING_VISUAL_HH_
19 
20 #include <boost/enable_shared_from_this.hpp>
21 #include <boost/function.hpp>
22 #include <string>
23 #include <utility>
24 #include <vector>
25 
26 #include <sdf/sdf.hh>
27 #include <ignition/math/Box.hh>
28 #include <ignition/math/Color.hh>
29 #include <ignition/math/Pose3.hh>
30 #include <ignition/math/Quaternion.hh>
31 #include <ignition/math/Vector3.hh>
32 #include <ignition/msgs/MessageTypes.hh>
33 
34 #include "gazebo/common/Color.hh"
35 #include "gazebo/common/Mesh.hh"
36 #include "gazebo/common/Time.hh"
37 
38 #include "gazebo/msgs/MessageTypes.hh"
39 
41 #include "gazebo/util/system.hh"
42 
43 namespace Ogre
44 {
45  class MovableObject;
46  class SceneNode;
47 }
48 
49 namespace gazebo
50 {
51  namespace rendering
52  {
53  class VisualPrivate;
54 
57 
60  class GZ_RENDERING_VISIBLE Visual :
61  public std::enable_shared_from_this<Visual>
62  {
65  public: enum VisualType
66  {
82  VT_PHYSICS
83  };
84 
90  public: Visual(const std::string &_name, VisualPtr _parent,
91  bool _useRTShader = true);
92 
98  public: Visual(const std::string &_name, ScenePtr _scene,
99  bool _useRTShader = true);
100 
102  public: virtual ~Visual();
103 
105  public: void Init();
106 
108  public: virtual void Fini();
109 
114  public: VisualPtr Clone(const std::string &_name, VisualPtr _newParent);
115 
118  public: void LoadFromMsg(ConstVisualPtr &_msg);
119 
122  public: void Load(sdf::ElementPtr _sdf);
123 
125  public: virtual void Load();
126 
128  public: void Update();
129 
136  public: sdf::ElementPtr GetSDF() const;
137 
140  public: void SetName(const std::string &_name);
141 
144  public: std::string Name() const;
145 
148  public: void AttachVisual(VisualPtr _vis);
149 
152  public: void DetachVisual(VisualPtr _vis);
153 
156  public: void DetachVisual(const std::string &_name);
157 
160  public: void AttachObject(Ogre::MovableObject *_obj);
161 
164  public: bool HasAttachedObject(const std::string &_name);
165 
168  public: unsigned int GetAttachedObjectCount() const;
169 
171  public: void DetachObjects();
172 
175  public: unsigned int GetChildCount();
176 
181  public: VisualPtr GetChild(unsigned int _index);
182 
190  public: Ogre::MovableObject *AttachMesh(const std::string &_meshName,
191  const std::string &_subMesh="",
192  bool _centerSubmesh = false,
193  const std::string &_objName="");
194 
197  public: void SetScale(const ignition::math::Vector3d &_scale);
198 
201  public: ignition::math::Vector3d Scale() const;
202 
205  public: ignition::math::Vector3d DerivedScale() const;
206 
209  public: bool GetLighting() const;
210 
213  public: void SetLighting(bool _lighting);
214 
221  public: void SetMaterial(const std::string &_materialName,
222  bool _unique = true, const bool _cascade = true);
223 
233  public: void SetMaterialShaderParam(const std::string &_paramName,
234  const std::string &_shaderType, const std::string &_value);
235 
240  public: void SetAmbient(const common::Color &_color,
241  const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
242 
246  public: void SetAmbient(const ignition::math::Color &_color,
247  const bool _cascade = true);
248 
253  public: void SetDiffuse(const common::Color &_color,
254  const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
255 
259  public: void SetDiffuse(const ignition::math::Color &_color,
260  const bool _cascade = true);
261 
266  public: void SetSpecular(const common::Color &_color,
267  const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
268 
272  public: void SetSpecular(const ignition::math::Color &_color,
273  const bool _cascade = true);
274 
279  public: virtual void SetEmissive(const common::Color &_color,
280  const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
281 
285  public: virtual void SetEmissive(const ignition::math::Color &_color,
286  const bool _cascade = true);
287 
291  public: common::Color GetAmbient() const GAZEBO_DEPRECATED(9.0);
292 
295  public: ignition::math::Color Ambient() const;
296 
300  public: common::Color GetDiffuse() const GAZEBO_DEPRECATED(9.0);
301 
304  public: ignition::math::Color Diffuse() const;
305 
309  public: common::Color GetSpecular() const GAZEBO_DEPRECATED(9.0);
310 
313  public: ignition::math::Color Specular() const;
314 
318  public: common::Color GetEmissive() const GAZEBO_DEPRECATED(9.0);
319 
322  public: ignition::math::Color Emissive() const;
323 
326  public: void SetWireframe(bool _show);
327 
330  public: bool Wireframe() const;
331 
335  private: void SetTransparencyInnerLoop(Ogre::SceneNode *_sceneNode);
336 
340  public: void SetTransparency(float _trans);
341 
344  public: float GetTransparency();
345 
349  public: float DerivedTransparency() const;
350 
353  public: void SetInheritTransparency(const bool _inherit);
354 
357  public: bool InheritTransparency() const;
358 
362  public: virtual void SetHighlighted(bool _highlighted);
363 
367  public: bool GetHighlighted() const;
368 
371  public: bool GetCastShadows() const;
372 
375  public: void SetCastShadows(bool _shadows);
376 
380  public: virtual void SetVisible(bool _visible, bool _cascade = true);
381 
383  public: void ToggleVisible();
384 
387  public: bool GetVisible() const;
388 
391  public: void SetPosition(const ignition::math::Vector3d &_pos);
392 
395  public: void SetRotation(const ignition::math::Quaterniond &_rot);
396 
399  public: void SetPose(const ignition::math::Pose3d &_pose);
400 
403  public: ignition::math::Vector3d Position() const;
404 
407  public: ignition::math::Quaterniond Rotation() const;
408 
411  public: ignition::math::Pose3d Pose() const;
412 
415  public: ignition::math::Pose3d InitialRelativePose() const;
416 
419  public: ignition::math::Pose3d WorldPose() const;
420 
423  public: void SetWorldPose(const ignition::math::Pose3d &_pose);
424 
427  public: void SetWorldPosition(const ignition::math::Vector3d &_pos);
428 
431  public: void SetWorldRotation(const ignition::math::Quaterniond &_rot);
432 
435  public: Ogre::SceneNode *GetSceneNode() const;
436 
438  public: void MakeStatic();
439 
442  public: bool IsStatic() const;
443 
446  public: void EnableTrackVisual(VisualPtr _vis);
447 
449  public: void DisableTrackVisual();
450 
453  public: std::string GetNormalMap() const;
454 
457  public: void SetNormalMap(const std::string &_nmap);
458 
464  public: void SetRibbonTrail(bool _value,
465  const common::Color &_initialColor,
466  const common::Color &_changeColor) GAZEBO_DEPRECATED(9.0);
467 
472  public: void SetRibbonTrail(bool _value,
473  const ignition::math::Color &_initialColor,
474  const ignition::math::Color &_changeColor);
475 
478  public: ignition::math::Box BoundingBox() const;
479 
483  public: DynamicLines *CreateDynamicLine(
485 
488  public: void DeleteDynamicLine(DynamicLines *_line);
489 
493  public: void AttachLineVertex(DynamicLines *_line,
494  unsigned int _index);
495 
498  public: std::string GetMaterialName() const;
499 
504  public: void InsertMesh(const std::string &_meshName,
505  const std::string &_subMesh = "",
506  bool _centerSubmesh = false);
507 
512  public: static void InsertMesh(const common::Mesh *_mesh,
513  const std::string &_subMesh = "",
514  bool _centerSubmesh = false);
515 
518  public: void UpdateFromMsg(ConstVisualPtr &_msg);
519 
522  public: bool IsPlane() const;
523 
526  public: VisualPtr GetParent() const;
527 
531  public: VisualPtr GetRootVisual();
532 
539  public: VisualPtr GetNthAncestor(unsigned int _n);
540 
544  public: bool IsAncestorOf(const rendering::VisualPtr _visual) const;
545 
549  public: bool IsDescendantOf(const rendering::VisualPtr _visual) const;
550 
554  public: unsigned int GetDepth() const;
555 
559  public: std::string GetShaderType() const;
560 
564  public: void SetShaderType(const std::string &_type);
565 
569  public: void MoveToPosition(const ignition::math::Pose3d &_pose,
570  const double _time);
571 
576  public: void MoveToPositions(
577  const std::vector<ignition::math::Pose3d> &_pts, const double _time,
578  std::function<void()> _onComplete = nullptr);
579 
585  public: void SetVisibilityFlags(uint32_t _flags);
586 
592  public: uint32_t GetVisibilityFlags();
593 
595  public: void ShowBoundingBox();
596 
600  public: void ShowCollision(bool _show);
601 
604  public: void ShowSkeleton(bool _show);
605 
608  public: void SetScene(ScenePtr _scene);
609 
612  public: ScenePtr GetScene() const;
613 
616  public: void ShowJoints(bool _show);
617 
620  public: void ShowCOM(bool _show);
621 
624  public: void ShowInertia(bool _show);
625 
628  public: void ShowLinkFrame(bool _show);
629 
632  public: void SetSkeletonPose(const msgs::PoseAnimation &_pose);
633 
638  public: void LoadPlugin(const std::string &_filename,
639  const std::string &_name,
640  sdf::ElementPtr _sdf);
641 
644  public: void RemovePlugin(const std::string &_name);
645 
647  public: uint32_t GetId() const;
648 
650  public: void SetId(uint32_t _id);
651 
654  public: std::string GetGeometryType() const;
655 
658  public: ignition::math::Vector3d GetGeometrySize() const;
659 
662  public: std::string GetMeshName() const;
663 
667  public: std::string GetSubMeshName() const;
668 
670  public: void ClearParent();
671 
675  public: void ToggleLayer(const int32_t _layer);
676 
679  public: void SetLayer(const int32_t _layer);
680 
683  public: Visual::VisualType GetType() const;
684 
687  public: void SetType(const Visual::VisualType _type);
688 
691  public: bool UseRTShader() const;
692 
696  public: void SetTypeMsg(const google::protobuf::Message *_msg);
697 
702  public: void AddPendingChild(std::pair<VisualType,
703  const google::protobuf::Message *> _pair);
704 
708  public: static Visual::VisualType ConvertVisualType(
709  const msgs::Visual::Type &_type);
710 
714  public: static msgs::Visual::Type ConvertVisualType(
715  const Visual::VisualType &_type);
716 
720  public: void FillMaterialMsg(ignition::msgs::Material &_msg) const;
721 
729  protected: Visual(VisualPrivate &_dataPtr,
730  const std::string &_name, VisualPtr _parent,
731  bool _useRTShader = true);
732 
740  protected: Visual(VisualPrivate &_dataPtr,
741  const std::string &_name, ScenePtr _scene,
742  bool _useRTShader = true);
743 
746  protected: void ProcessMaterialMsg(const ignition::msgs::Material &_msg);
747 
754  private: void Init(const std::string &_name, ScenePtr _scene,
755  bool _useRTShader);
756 
763  private: void Init(const std::string &_name, VisualPtr _parent,
764  bool _useRTShader);
765 
768  private: void LoadPlugins();
769 
770  private: void LoadPlugin(sdf::ElementPtr _sdf);
771 
775  private: void BoundsHelper(Ogre::SceneNode *_node,
776  ignition::math::Box &_box) const;
777 
781  private: bool GetCenterSubMesh() const;
782 
785  private: void DestroyAllAttachedMovableObjects(
786  Ogre::SceneNode *_sceneNode);
787 
791  private: void UpdateGeomSize(const ignition::math::Vector3d &_scale);
792 
795  private: void UpdateTransparency(const bool _cascade = true);
796 
799  protected: VisualPrivate *dataPtr;
800  };
802  }
803 }
804 #endif
Class for drawing lines that can change.
Definition: DynamicLines.hh:42
Link visual.
Definition: Visual.hh:72
Forward declarations for the common classes.
Definition: Animation.hh:26
Entity visual.
Definition: Visual.hh:68
GUI visual.
Definition: Visual.hh:80
A renderable object.
Definition: Visual.hh:60
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:216
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:226
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
Model visual.
Definition: Visual.hh:70
VisualType
Type of visual.
Definition: Visual.hh:65
Definition: JointMaker.hh:39
Defines a color.
Definition: Color.hh:36
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Definition: ConfigWidget.hh:33
Visual visual.
Definition: Visual.hh:74
Definition: Model.hh:40
Collision visual.
Definition: Visual.hh:76
Sensor visual.
Definition: Visual.hh:78