Scene.hh
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2  * Copyright (C) 2015 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.
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10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef GAZEBO_RENDERING_SCENE_HH_
19 #define GAZEBO_RENDERING_SCENE_HH_
20 
21 #include <memory>
22 #include <string>
23 #include <vector>
24 
25 #include <boost/enable_shared_from_this.hpp>
26 #include <boost/shared_ptr.hpp>
27 
28 #include <sdf/sdf.hh>
29 
30 #include <ignition/math/Color.hh>
31 #include <ignition/math/Vector2.hh>
32 #include <ignition/math/Vector3.hh>
33 
34 #include "gazebo/common/Events.hh"
35 #include "gazebo/gazebo_config.h"
36 #include "gazebo/msgs/msgs.hh"
40 #include "gazebo/util/system.hh"
41 
42 namespace SkyX
43 {
44  class SkyX;
45 }
46 
47 namespace Ogre
48 {
49  class SceneManager;
50  class Node;
51  class Entity;
52  class Mesh;
53  class Vector3;
54  class Quaternion;
55 }
56 
57 namespace gazebo
58 {
59  namespace rendering
60  {
61  class Visual;
62  class Grid;
63  class Heightmap;
64  class ScenePrivate;
65 
68 
100  class GZ_RENDERING_VISIBLE Scene :
101  public boost::enable_shared_from_this<Scene>
102  {
103  public: enum SkyXMode {
104  GZ_SKYX_ALL = 0x0FFFFFFF,
105  GZ_SKYX_CLOUDS = 0x0000001,
106  GZ_SKYX_MOON = 0x0000002,
107  GZ_SKYX_NONE = 0
108  };
109 
111  private: Scene();
112 
118  public: Scene(const std::string &_name,
119  const bool _enableVisualizations = false,
120  const bool _isServer = false);
121 
123  public: virtual ~Scene();
124 
127  public: void Load(sdf::ElementPtr _scene);
128 
130  public: void Load();
131 
133  public: void Init();
134 
136  public: void PreRender();
137 
140  public: Ogre::SceneManager *OgreSceneManager() const;
141 
144  public: std::string Name() const;
145 
148  public: void SetAmbientColor(const ignition::math::Color &_color);
149 
152  public: ignition::math::Color AmbientColor() const;
153 
156  public: void SetBackgroundColor(const ignition::math::Color &_color);
157 
160  public: ignition::math::Color BackgroundColor() const;
161 
166  public: void CreateGrid(const uint32_t _cellCount,
167  const float _cellLength, const ignition::math::Color &_color);
168 
172  public: Grid *GetGrid(uint32_t _index) const;
173 
176  public: uint32_t GridCount() const;
177 
183  public: CameraPtr CreateCamera(const std::string &_name,
184  const bool _autoRender = true);
185 
191  public: WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name,
192  const bool _autoRender = true);
193 
194 #ifdef HAVE_OCULUS
195  public: OculusCameraPtr CreateOculusCamera(const std::string &_name);
199 
202  public: uint32_t OculusCameraCount() const;
203 #endif
204 
210  public: DepthCameraPtr CreateDepthCamera(const std::string &_name,
211  const bool _autoRender = true);
212 
218  public: GpuLaserPtr CreateGpuLaser(const std::string &_name,
219  const bool _autoRender = true);
220 
223  public: uint32_t CameraCount() const;
224 
229  public: CameraPtr GetCamera(const uint32_t _index) const;
230 
234  public: CameraPtr GetCamera(const std::string &_name) const;
235 
243  public: UserCameraPtr CreateUserCamera(const std::string &_name,
244  const bool _stereoEnabled = false);
245 
248  public: uint32_t UserCameraCount() const;
249 
255  public: UserCameraPtr GetUserCamera(const uint32_t _index) const;
256 
259  public: void RemoveCamera(const std::string &_name);
260 
263  public: uint32_t LightCount() const;
264 
269  public: LightPtr GetLight(const std::string &_name) const
270  GAZEBO_DEPRECATED(9.1);
271 
277  public: LightPtr GetLight(const uint32_t _index) const
278  GAZEBO_DEPRECATED(9.1);
279 
283  public: LightPtr LightByName(const std::string &_name) const;
284 
289  public: LightPtr LightByIndex(const uint32_t _index) const;
290 
294  public: LightPtr LightById(const uint32_t _id) const;
295 
299  public: VisualPtr GetVisual(const std::string &_name) const;
300 
304  public: VisualPtr GetVisual(const uint32_t _id) const;
305 
309  public: void SelectVisual(const std::string &_name,
310  const std::string &_mode);
311 
318  public: VisualPtr VisualAt(CameraPtr _camera,
319  const ignition::math::Vector2i &_mousePos,
320  std::string &_mod);
321 
324  public: void SnapVisualToNearestBelow(const std::string &_visualName);
325 
331  public: VisualPtr VisualAt(CameraPtr _camera,
332  const ignition::math::Vector2i &_mousePos);
333 
339  public: VisualPtr ModelVisualAt(CameraPtr _camera,
340  const ignition::math::Vector2i &_mousePos);
341 
345  public: VisualPtr VisualBelow(const std::string &_visualName);
346 
351  public: void VisualsBelowPoint(const ignition::math::Vector3d &_pt,
352  std::vector<VisualPtr> &_visuals);
353 
358  public: double HeightBelowPoint(const ignition::math::Vector3d &_pt);
359 
365  public: bool FirstContact(CameraPtr _camera,
366  const ignition::math::Vector2i &_mousePos,
367  ignition::math::Vector3d &_position);
368 
370  public: void PrintSceneGraph();
371 
376  public: void SetVisible(const std::string &_name, const bool _visible);
377 
382  public: void DrawLine(const ignition::math::Vector3d &_start,
383  const ignition::math::Vector3d &_end,
384  const std::string &_name);
385 
393  public: void SetFog(const std::string &_type,
394  const ignition::math::Color &_color,
395  const double _density, const double _start,
396  const double _end);
397 
400  public: uint32_t Id() const;
401 
404  public: std::string IdString() const;
405 
408  public: void SetShadowsEnabled(const bool _value);
409 
412  public: bool ShadowsEnabled() const;
413 
418  public: bool SetShadowTextureSize(const unsigned int _size);
419 
422  public: unsigned int ShadowTextureSize() const;
423 
426  public: void AddVisual(VisualPtr _vis);
427 
430  public: void RemoveVisual(VisualPtr _vis);
431 
434  public: void RemoveVisual(const uint32_t _id);
435 
441  public: void SetVisualId(VisualPtr _vis, const uint32_t _id);
442 
445  public: void AddLight(LightPtr _light);
446 
449  public: void RemoveLight(LightPtr _light);
450 
453  public: void SetGrid(const bool _enabled);
454 
457  public: void ShowOrigin(const bool _show);
458 
461  public: VisualPtr WorldVisual() const;
462 
466  public: std::string StripSceneName(const std::string &_name) const;
467 
470  public: Heightmap *GetHeightmap() const;
471 
475  public: void SetHeightmapLOD(const unsigned int _value);
476 
480  public: unsigned int HeightmapLOD() const;
481 
485  public: void SetHeightmapSkirtLength(const double _value);
486 
490  public: double HeightmapSkirtLength() const;
491 
493  public: void Clear();
494 
498  public: VisualPtr SelectedVisual() const;
499 
502  public: void SetWireframe(const bool _show);
503 
506  public: bool Wireframe() const;
507 
510  public: void SetTransparent(const bool _show);
511 
514  public: void ShowCOMs(const bool _show);
515 
518  public: void ShowInertias(const bool _show);
519 
522  public: void ShowLinkFrames(const bool _show);
523 
526  public: void ShowSkeleton(const bool _show);
527 
530  public: void ShowJoints(const bool _show);
531 
534  public: void ShowCollisions(const bool _show);
535 
538  public: void ShowContacts(const bool _show);
539 
542  public: void ShowClouds(const bool _show);
543 
546  public: bool ShowClouds() const;
547 
552  public: void SetSkyXMode(const unsigned int _mode);
553 
556  public: SkyX::SkyX *GetSkyX() const;
557 
560  public: bool Initialized() const;
561 
567  public: common::Time SimTime() const;
568 
571  public: uint32_t VisualCount() const;
572 
574  public: void RemoveProjectors();
575 
580  public: void ToggleLayer(const int32_t _layer);
581 
587  public: bool LayerState(const int32_t _layer) const;
588 
593  public: bool HasLayer(const int32_t _layer) const;
594 
599  public: void EnableVisualizations(const bool _enable);
600 
604  public: bool EnableVisualizations() const;
605 
607  private: void SetSky();
608 
610  private: void InitDeferredShading();
611 
618  private: Ogre::Entity *OgreEntityAt(CameraPtr _camera,
619  const ignition::math::Vector2i &_mousePos,
620  const bool _ignoreSelectionObj);
621 
631  // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
632  private: void MeshInformation(const Ogre::Mesh *_mesh,
633  size_t &_vertexCount,
634  Ogre::Vector3* &_vertices,
635  size_t &_indexCount,
636  uint64_t* &_indices,
637  const ignition::math::Vector3d &_position,
638  const ignition::math::Quaterniond &_orient,
639  const ignition::math::Vector3d &_scale);
640 
644  private: void PrintSceneGraphHelper(const std::string &_prefix,
645  Ogre::Node *_node);
646 
650  private: void OnScene(ConstScenePtr &_msg);
651 
654  private: void OnResponse(ConstResponsePtr &_msg);
655 
658  private: void OnRequest(ConstRequestPtr &_msg);
659 
662  private: void OnJointMsg(ConstJointPtr &_msg);
663 
666  private: bool ProcessSensorMsg(ConstSensorPtr &_msg);
667 
670  private: bool ProcessJointMsg(ConstJointPtr &_msg);
671 
674  private: bool ProcessLinkMsg(ConstLinkPtr &_msg);
675 
678  private: bool ProcessSceneMsg(ConstScenePtr &_msg);
679 
682  private: bool ProcessModelMsg(const msgs::Model &_msg);
683 
686  private: void OnSensorMsg(ConstSensorPtr &_msg);
687 
690  private: void OnVisualMsg(ConstVisualPtr &_msg);
691 
696  private: bool ProcessVisualMsg(ConstVisualPtr &_msg,
697  Visual::VisualType _type = Visual::VT_ENTITY);
698 
701  private: void OnLightFactoryMsg(ConstLightPtr &_msg);
702 
705  private: void OnLightModifyMsg(ConstLightPtr &_msg);
706 
709  private: bool ProcessLightFactoryMsg(ConstLightPtr &_msg);
710 
713  private: bool ProcessLightModifyMsg(ConstLightPtr &_msg);
714 
717  private: void ProcessRequestMsg(ConstRequestPtr &_msg);
718 
721  private: void OnSkyMsg(ConstSkyPtr &_msg);
722 
725  private: void OnModelMsg(ConstModelPtr &_msg);
726 
729  private: void OnPoseMsg(ConstPosesStampedPtr &_msg);
730 
733  private: void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);
734 
737  private: void OnRoadMsg(ConstRoadPtr &_msg);
738 
742  private: void CreateCOMVisual(ConstLinkPtr &_msg, VisualPtr _linkVisual);
743 
747  private: void CreateCOMVisual(sdf::ElementPtr _elem,
748  VisualPtr _linkVisual);
749 
753  private: void CreateInertiaVisual(ConstLinkPtr &_msg,
754  VisualPtr _linkVisual);
755 
759  private: void CreateInertiaVisual(sdf::ElementPtr _elem,
760  VisualPtr _linkVisual);
761 
765  private: void CreateLinkFrameVisual(ConstLinkPtr &_msg,
766  VisualPtr _linkVisual);
767 
771  private: void RemoveVisualizations(VisualPtr _vis);
772 
775  private: std::unique_ptr<ScenePrivate> dataPtr;
776  };
778  }
779 }
780 #endif
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
SkyXMode
Definition: Scene.hh:103
Forward declarations for transport.
Displays a grid of cells, drawn with lines.
Definition: Grid.hh:53
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition: RenderTypes.hh:98
VisualType
Type of visual.
Definition: Visual.hh:64
Rendering a terrain using heightmap information.
Definition: Heightmap.hh:62
Representation of an entire scene graph.
Definition: Scene.hh:100
Definition: JointMaker.hh:39
#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
Definition: Scene.hh:42