18 #ifndef GAZEBO_RENDERING_SCENE_HH_ 19 #define GAZEBO_RENDERING_SCENE_HH_ 25 #include <boost/enable_shared_from_this.hpp> 26 #include <boost/shared_ptr.hpp> 30 #include <ignition/math/Color.hh> 31 #include <ignition/math/Vector2.hh> 32 #include <ignition/math/Vector3.hh> 36 #include "gazebo/gazebo_config.h" 102 public boost::enable_shared_from_this<Scene>
105 GZ_SKYX_ALL = 0x0FFFFFFF,
106 GZ_SKYX_CLOUDS = 0x0000001,
107 GZ_SKYX_MOON = 0x0000002,
119 public:
Scene(
const std::string &_name,
120 const bool _enableVisualizations =
false,
121 const bool _isServer =
false);
124 public:
virtual ~
Scene();
128 public:
void Load(sdf::ElementPtr _scene);
137 public:
void PreRender();
141 public: Ogre::SceneManager *OgreSceneManager()
const;
145 public: std::string Name()
const;
155 public:
void SetAmbientColor(
const ignition::math::Color &_color);
159 public: ignition::math::Color AmbientColor()
const;
169 public:
void SetBackgroundColor(
const ignition::math::Color &_color);
173 public: ignition::math::Color BackgroundColor()
const;
181 public:
void CreateGrid(
const uint32_t _cellCount,
182 const float _cellLength,
const float _lineWidth,
189 public:
void CreateGrid(
const uint32_t _cellCount,
190 const float _cellLength,
const ignition::math::Color &_color);
195 public:
Grid *GetGrid(uint32_t _index)
const;
199 public: uint32_t GridCount()
const;
206 public:
CameraPtr CreateCamera(
const std::string &_name,
207 const bool _autoRender =
true);
215 const bool _autoRender =
true);
218 public: OculusCameraPtr CreateOculusCamera(
const std::string &_name);
225 public: uint32_t OculusCameraCount()
const;
233 public:
DepthCameraPtr CreateDepthCamera(
const std::string &_name,
234 const bool _autoRender =
true);
241 public:
GpuLaserPtr CreateGpuLaser(
const std::string &_name,
242 const bool _autoRender =
true);
246 public: uint32_t CameraCount()
const;
252 public:
CameraPtr GetCamera(
const uint32_t _index)
const;
257 public:
CameraPtr GetCamera(
const std::string &_name)
const;
266 public:
UserCameraPtr CreateUserCamera(
const std::string &_name,
267 const bool _stereoEnabled =
false);
271 public: uint32_t UserCameraCount()
const;
278 public:
UserCameraPtr GetUserCamera(
const uint32_t _index)
const;
282 public:
void RemoveCamera(
const std::string &_name);
286 public: uint32_t LightCount()
const;
292 public:
LightPtr GetLight(
const std::string &_name)
const 300 public:
LightPtr GetLight(
const uint32_t _index)
const 306 public:
LightPtr LightByName(
const std::string &_name)
const;
312 public:
LightPtr LightByIndex(
const uint32_t _index)
const;
317 public:
LightPtr LightById(
const uint32_t _id)
const;
322 public:
VisualPtr GetVisual(
const std::string &_name)
const;
327 public:
VisualPtr GetVisual(
const uint32_t _id)
const;
332 public:
void SelectVisual(
const std::string &_name,
333 const std::string &_mode);
342 const ignition::math::Vector2i &_mousePos,
347 public:
void SnapVisualToNearestBelow(
const std::string &_visualName);
355 const ignition::math::Vector2i &_mousePos);
363 const ignition::math::Vector2i &_mousePos);
368 public:
VisualPtr VisualBelow(
const std::string &_visualName);
374 public:
void VisualsBelowPoint(
const ignition::math::Vector3d &_pt,
375 std::vector<VisualPtr> &_visuals);
381 public:
double HeightBelowPoint(
const ignition::math::Vector3d &_pt);
388 public:
bool FirstContact(
CameraPtr _camera,
389 const ignition::math::Vector2i &_mousePos,
390 ignition::math::Vector3d &_position);
393 public:
void PrintSceneGraph();
399 public:
void SetVisible(
const std::string &_name,
const bool _visible);
405 public:
void DrawLine(
const ignition::math::Vector3d &_start,
406 const ignition::math::Vector3d &_end,
407 const std::string &_name);
417 public:
void SetFog(
const std::string &_type,
419 const double _density,
const double _start,
429 public:
void SetFog(
const std::string &_type,
430 const ignition::math::Color &_color,
431 const double _density,
const double _start,
436 public: uint32_t Id()
const;
440 public: std::string IdString()
const;
444 public:
void SetShadowsEnabled(
const bool _value);
448 public:
bool ShadowsEnabled()
const;
454 public:
bool SetShadowTextureSize(
const unsigned int _size);
458 public:
unsigned int ShadowTextureSize()
const;
466 public:
void RemoveVisual(
VisualPtr _vis);
470 public:
void RemoveVisual(
const uint32_t _id);
477 public:
void SetVisualId(
VisualPtr _vis,
const uint32_t _id);
481 public:
void AddLight(
LightPtr _light);
485 public:
void RemoveLight(
LightPtr _light);
489 public:
void SetGrid(
const bool _enabled);
493 public:
void ShowOrigin(
const bool _show);
502 public: std::string StripSceneName(
const std::string &_name)
const;
511 public:
void SetHeightmapLOD(
const unsigned int _value);
516 public:
unsigned int HeightmapLOD()
const;
521 public:
void SetHeightmapSkirtLength(
const double _value);
526 public:
double HeightmapSkirtLength()
const;
529 public:
void Clear();
534 public:
VisualPtr SelectedVisual()
const;
538 public:
void SetWireframe(
const bool _show);
542 public:
bool Wireframe()
const;
546 public:
void SetTransparent(
const bool _show);
550 public:
void ShowCOMs(
const bool _show);
554 public:
void ShowInertias(
const bool _show);
558 public:
void ShowLinkFrames(
const bool _show);
562 public:
void ShowSkeleton(
const bool _show);
566 public:
void ShowJoints(
const bool _show);
570 public:
void ShowCollisions(
const bool _show);
574 public:
void ShowContacts(
const bool _show);
578 public:
void ShowClouds(
const bool _show);
582 public:
bool ShowClouds()
const;
588 public:
void SetSkyXMode(
const unsigned int _mode);
592 public: SkyX::SkyX *GetSkyX()
const;
596 public:
bool Initialized()
const;
607 public: uint32_t VisualCount()
const;
610 public:
void RemoveProjectors();
616 public:
void ToggleLayer(
const int32_t _layer);
623 public:
bool LayerState(
const int32_t _layer)
const;
629 public:
bool HasLayer(
const int32_t _layer)
const;
635 public:
void EnableVisualizations(
const bool _enable);
640 public:
bool EnableVisualizations()
const;
643 private:
void SetSky();
646 private:
void InitDeferredShading();
654 private: Ogre::Entity *OgreEntityAt(
CameraPtr _camera,
655 const ignition::math::Vector2i &_mousePos,
656 const bool _ignoreSelectionObj);
668 private:
void MeshInformation(
const Ogre::Mesh *_mesh,
669 size_t &_vertexCount,
670 Ogre::Vector3* &_vertices,
673 const ignition::math::Vector3d &_position,
674 const ignition::math::Quaterniond &_orient,
675 const ignition::math::Vector3d &_scale);
680 private:
void PrintSceneGraphHelper(
const std::string &_prefix,
686 private:
void OnScene(ConstScenePtr &_msg);
690 private:
void OnResponse(ConstResponsePtr &_msg);
694 private:
void OnRequest(ConstRequestPtr &_msg);
698 private:
void OnJointMsg(ConstJointPtr &_msg);
702 private:
bool ProcessSensorMsg(ConstSensorPtr &_msg);
706 private:
bool ProcessJointMsg(ConstJointPtr &_msg);
710 private:
bool ProcessLinkMsg(ConstLinkPtr &_msg);
714 private:
bool ProcessSceneMsg(ConstScenePtr &_msg);
718 private:
bool ProcessModelMsg(
const msgs::Model &_msg);
722 private:
void OnSensorMsg(ConstSensorPtr &_msg);
726 private:
void OnVisualMsg(ConstVisualPtr &_msg);
732 private:
bool ProcessVisualMsg(ConstVisualPtr &_msg,
737 private:
void OnLightFactoryMsg(ConstLightPtr &_msg);
741 private:
void OnLightModifyMsg(ConstLightPtr &_msg);
745 private:
bool ProcessLightFactoryMsg(ConstLightPtr &_msg);
749 private:
bool ProcessLightModifyMsg(ConstLightPtr &_msg);
753 private:
void ProcessRequestMsg(ConstRequestPtr &_msg);
757 private:
void OnSkyMsg(ConstSkyPtr &_msg);
761 private:
void OnModelMsg(ConstModelPtr &_msg);
765 private:
void OnPoseMsg(ConstPosesStampedPtr &_msg);
769 private:
void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);
773 private:
void OnRoadMsg(ConstRoadPtr &_msg);
778 private:
void CreateCOMVisual(ConstLinkPtr &_msg,
VisualPtr _linkVisual);
783 private:
void CreateCOMVisual(sdf::ElementPtr _elem,
789 private:
void CreateInertiaVisual(ConstLinkPtr &_msg,
795 private:
void CreateInertiaVisual(sdf::ElementPtr _elem,
801 private:
void CreateLinkFrameVisual(ConstLinkPtr &_msg,
807 private:
void RemoveVisualizations(
VisualPtr _vis);
811 private: std::unique_ptr<ScenePrivate> dataPtr;
boost::shared_ptr< UserCamera > UserCameraPtr
Definition: RenderTypes.hh:94
Forward declarations for the common classes.
Definition: Animation.hh:26
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition: RenderTypes.hh:106
Entity visual.
Definition: Visual.hh:68
SkyXMode
Definition: Scene.hh:104
Forward declarations for transport.
Displays a grid of cells, drawn with lines.
Definition: Grid.hh:58
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:98
VisualType
Type of visual.
Definition: Visual.hh:65
Rendering a terrain using heightmap information.
Definition: Heightmap.hh:62
Representation of an entire scene graph.
Definition: Scene.hh:101
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.
boost::shared_ptr< WideAngleCamera > WideAngleCameraPtr
Definition: RenderTypes.hh:102
boost::shared_ptr< Light > LightPtr
Definition: RenderTypes.hh:86
boost::shared_ptr< Camera > CameraPtr
Definition: RenderTypes.hh:90
A Time class, can be used to hold wall- or sim-time.
Definition: Time.hh:44