RTShaderSystem.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.
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8  * http://www.apache.org/licenses/LICENSE-2.0
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13  * See the License for the specific language governing permissions and
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17 
18 #ifndef _GAZEBO_RTSHADERSYSTEM_HH_
19 #define _GAZEBO_RTSHADERSYSTEM_HH_
20 
21 #include <list>
22 #include <string>
23 
25 #include "gazebo/gazebo_config.h"
26 
29 #include "gazebo/util/system.hh"
30 
32 GZ_SINGLETON_DECLARE(GZ_RENDERING_VISIBLE, gazebo, rendering, RTShaderSystem)
33 
34 namespace gazebo
35 {
36  namespace rendering
37  {
38  class RTShaderSystemPrivate;
39 
42 
48  class GZ_RENDERING_VISIBLE RTShaderSystem :
49  public SingletonT<RTShaderSystem>
50  {
53  public: enum LightingModel
54  {
64  SSLM_NormalMapLightingObjectSpace
65  };
66 
68  private: RTShaderSystem();
69 
71  private: virtual ~RTShaderSystem();
72 
74  public: void Init();
75 
77  public: void Fini();
78 
81  public: void AddScene(ScenePtr _scene);
82 
85  public: void RemoveScene(ScenePtr _scene);
86 
89  public: void RemoveScene(const std::string &_scene);
90 
92  public: void UpdateShaders();
93 
97  public: static void AttachViewport(Ogre::Viewport *_viewport,
98  ScenePtr _scene);
99 
103  public: static void DetachViewport(Ogre::Viewport *_viewport,
104  ScenePtr _scene);
105 
108  public: void SetPerPixelLighting(bool _set);
109 
112  public: void GenerateShaders(const VisualPtr &_vis);
113 
116  public: void ApplyShadows(ScenePtr _scene);
117 
120  public: void RemoveShadows(ScenePtr _scene);
121 
124  public: Ogre::PSSMShadowCameraSetup *GetPSSMShadowCameraSetup() const;
125 
127  public: void Update();
128 
133  public: bool SetShadowTextureSize(const unsigned int _size);
134 
137  public: unsigned int ShadowTextureSize() const;
138 
142  public: void SetShadowClipDist(const double _near, const double _far);
143 
146  public: double ShadowNearClip() const;
147 
150  public: double ShadowFarClip() const;
151 
155  public: void SetShadowSplitLambda(const double _lambda);
156 
159  public: double ShadowSplitLambda() const;
160 
163  public: void SetShadowSplitPadding(const double _padding);
164 
167  public: double ShadowSplitPadding() const;
168 
173  private: bool GetPaths(std::string &_coreLibsPath,
174  std::string &_cachePath);
175 
178  private: void UpdateShaders(VisualPtr _vis);
179 
181  private: void ReapplyShadows();
182 
184  private: friend class SingletonT<RTShaderSystem>;
185 
188  private: RTShaderSystemPrivate *dataPtr;
189  };
191  }
192 }
193 #endif
Forward declarations for the common classes.
Definition: Animation.hh:26
rendering
Definition: RTShaderSystem.hh:32
Singleton template class.
Definition: SingletonT.hh:33
Normal Map lighting: lighting calculations have been stored in a light map (texture) using tangent sp...
Definition: RTShaderSystem.hh:61
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
LightingModel
Definition: RTShaderSystem.hh:53
Per-Pixel lighting: best look.
Definition: RTShaderSystem.hh:58
Implements Ogre&#39;s Run-Time Shader system.
Definition: RTShaderSystem.hh:48
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Per-Vertex lighting: best performance.
Definition: RTShaderSystem.hh:56
#define GZ_SINGLETON_DECLARE(visibility, n1, n2, singletonType)
Helper to declare typed SingletonT.
Definition: SingletonT.hh:61