A renderable object. More...

#include <rendering/rendering.hh>

Inherits enable_shared_from_this< Visual >.

Inherited by ApplyWrenchVisual, ArrowVisual, AxisVisual, CameraVisual, COMVisual, ContactVisual, InertiaVisual, JointVisual, LaserVisual, LogicalCameraVisual, OriginVisual, RFIDTagVisual, RFIDVisual, Road2d, SelectionObj, SonarVisual, TransmitterVisual, VideoVisual, and WrenchVisual.

Public Types
enum	VisualType { VT_ENTITY, VT_MODEL, VT_LINK, VT_VISUAL, VT_COLLISION, VT_SENSOR, VT_GUI, VT_PHYSICS }
	Type of visual. More...

Public Member Functions
	Visual (const std::string &_name, VisualPtr _parent, bool _useRTShader=true)
	Constructor. More...

	Visual (const std::string &_name, ScenePtr _scene, bool _useRTShader=true)
	Constructor. More...

virtual	~Visual ()
	Destructor. More...

void	AddPendingChild (std::pair< VisualType, const google::protobuf::Message *> _pair)
	Push a message for a child of this visual which hasn't been loaded yet. More...

ignition::math::Color	Ambient () const
	Get the ambient color of the visual. More...

void	AttachLineVertex (DynamicLines *_line, unsigned int _index)
	Attach a vertex of a line to the position of the visual. More...

Ogre::MovableObject *	AttachMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false, const std::string &_objName="")
	Attach a mesh to this visual by name. More...

void	AttachObject (Ogre::MovableObject *_obj)
	Attach a renerable object to the visual. More...

void	AttachVisual (VisualPtr _vis)
	Attach a visual to this visual. More...

ignition::math::AxisAlignedBox	BoundingBox () const
	Get the bounding box for the visual. More...

void	ClearParent ()
	Clear parents. More...

VisualPtr	Clone (const std::string &_name, VisualPtr _newParent)
	Clone the visual with a new name. More...

DynamicLines *	CreateDynamicLine (RenderOpType _type=RENDERING_LINE_STRIP)
	Add a line to the visual. More...

void	DeleteDynamicLine (DynamicLines *_line)
	Delete a dynamic line. More...

ignition::math::Vector3d	DerivedScale () const
	Get the scale of the visual as inherited from all parents. More...

float	DerivedTransparency () const
	Get the transparency of the visual as inherited from all parents. More...

void	DetachObjects ()
	Detach all objects. More...

void	DetachVisual (VisualPtr _vis)
	Detach a visual. More...

void	DetachVisual (const std::string &_name)
	Detach a visual. More...

ignition::math::Color	Diffuse () const
	Get the diffuse color of the visual. More...

void	DisableTrackVisual ()
	Disable tracking of a visual. More...

ignition::math::Color	Emissive () const
	Get the emissive color of the visual. More...

void	EnableTrackVisual (VisualPtr _vis)
	Set one visual to track/follow another. More...

void	FillMaterialMsg (ignition::msgs::Material &_msg) const
	Fill an ignition::msgs::Material message based on this visual's material properties. More...

virtual void	Fini ()
	Helper for the destructor. More...

unsigned int	GetAttachedObjectCount () const
	Return the number of attached movable objects. More...

bool	GetCastShadows () const
	Get whether the visual casts shadows. More...

VisualPtr	GetChild (unsigned int _index)
	Get an attached visual based on an index. More...

unsigned int	GetChildCount ()
	Get the number of attached visuals. More...

unsigned int	GetDepth () const
	Get the depth of this visual, where 0 is the depth of the world visual. More...

ignition::math::Vector3d	GetGeometrySize () const
	Get the geometry size. More...

std::string	GetGeometryType () const
	Get the geometry type. More...

bool	GetHighlighted () const
	Get whether or not the visual is visually highlighted. More...

uint32_t	GetId () const
	Get the id associated with this visual. More...

bool	GetLighting () const
	Get whether or not lighting is enabled. More...

std::string	GetMaterialName () const
	Get the name of the material. More...

std::string	GetMeshName () const
	The name of the mesh set in the visual's SDF. More...

std::string	GetNormalMap () const
	Get the normal map. More...

VisualPtr	GetNthAncestor (unsigned int _n)
	Get the nth ancestor counting from the world visual. More...

VisualPtr	GetParent () const
	Get the parent visual, if one exists. More...

VisualPtr	GetRootVisual ()
	Get the root visual. More...

ScenePtr	GetScene () const
	Get current. More...

Ogre::SceneNode *	GetSceneNode () const
	Return the scene Node of this visual entity. More...

sdf::ElementPtr	GetSDF () const
	Get the visual SDF. More...

std::string	GetShaderType () const
	Get the shader type. More...

std::string	GetSubMeshName () const
	Get the name of the sub mesh set in the visual's SDF. More...

float	GetTransparency ()
	Get the transparency. More...

Visual::VisualType	GetType () const
	Get type of visual. More...

uint32_t	GetVisibilityFlags ()
	Get visibility flags for this visual and all children. More...

bool	GetVisible () const
	Get whether the visual is visible. More...

bool	HasAttachedObject (const std::string &_name)
	Returns true if an object with _name is attached. More...

bool	InheritTransparency () const
	Get whether this visual inherits transparency from parent. More...

void	Init ()
	Helper for the contructor. More...

ignition::math::Pose3d	InitialRelativePose () const
	Get the initial relative pose of the visual. More...

void	InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
	Insert a mesh into Ogre. More...

bool	IsAncestorOf (const rendering::VisualPtr _visual) const
	Check if this visual is an ancestor of another visual. More...

bool	IsDescendantOf (const rendering::VisualPtr _visual) const
	Check if this visual is a descendant of another visual. More...

bool	IsPlane () const
	Return true if the visual is a plane. More...

bool	IsStatic () const
	Return true if the visual is a static geometry. More...

void	Load (sdf::ElementPtr _sdf)
	Load the visual with a set of parameters. More...

virtual void	Load ()
	Load the visual with default parameters. More...

void	LoadFromMsg (ConstVisualPtr &_msg)
	Load from a message. More...

void	LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
	Load a plugin. More...

void	MakeStatic ()
	Make the visual objects static renderables. More...

void	MoveToPosition (const ignition::math::Pose3d &_pose, const double _time)
	Move to a pose and over a given time. More...

void	MoveToPositions (const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=nullptr)
	Move to a series of pose and over a given time. More...

std::string	Name () const
	Get the name of the visual. More...

ignition::math::Pose3d	Pose () const
	Get the pose of the visual. More...

ignition::math::Vector3d	Position () const
	Get the position of the visual. More...

void	RemovePlugin (const std::string &_name)
	Remove a running plugin. More...

ignition::math::Quaterniond	Rotation () const
	Get the rotation of the visual. More...

ignition::math::Vector3d	Scale () const
	Get the scale. More...

void	SetAmbient (const ignition::math::Color &_color, const bool _cascade=true)
	Set the ambient color of the visual. More...

void	SetCastShadows (bool _shadows)
	Set whether the visual should cast shadows. More...

void	SetDiffuse (const ignition::math::Color &_color, const bool _cascade=true)
	Set the diffuse color of the visual. More...

virtual void	SetEmissive (const ignition::math::Color &_color, const bool _cascade=true)
	Set the emissive value. More...

virtual void	SetHighlighted (bool _highlighted)
	Set the visual to be visually highlighted. More...

void	SetId (uint32_t _id)
	Set the id associated with this visual. More...

void	SetInheritTransparency (const bool _inherit)
	Set whether to inherit transparency from parent. More...

void	SetLayer (const int32_t _layer)
	Set the layer this visual belongs to. More...

void	SetLighting (bool _lighting)
	Set whether or not to enable or disable lighting. More...

void	SetMaterial (const std::string &_materialName, bool _unique=true, const bool _cascade=true)
	Set the material. More...

void	SetMaterialShaderParam (const std::string &_paramName, const std::string &_shaderType, const std::string &_value)
	Set a shader program parameter associated to this visual's material. More...

void	SetName (const std::string &_name)
	Set the name of the visual. More...

void	SetNormalMap (const std::string &_nmap)
	Set the normal map. More...

void	SetPose (const ignition::math::Pose3d &_pose)
	Set the pose of the visual. More...

void	SetPosition (const ignition::math::Vector3d &_pos)
	Set the position of the visual. More...

void	SetRibbonTrail (bool _value, const ignition::math::Color &_initialColor, const ignition::math::Color &_changeColor)
	True on or off a ribbon trail. More...

void	SetRotation (const ignition::math::Quaterniond &_rot)
	Set the rotation of the visual. More...

void	SetScale (const ignition::math::Vector3d &_scale)
	Set the scale. More...

void	SetScene (ScenePtr _scene)
	Set current scene. More...

void	SetShaderType (const std::string &_type)
	Set the shader type for the visual's material. More...

void	SetSkeletonPose (const msgs::PoseAnimation &_pose)
	Set animation skeleton pose. More...

void	SetSpecular (const ignition::math::Color &_color, const bool _cascade=true)
	Set the specular color of the visual. More...

void	SetTransparency (float _trans)
	Set the transparency. More...

void	SetType (const Visual::VisualType _type)
	Set type of visual. More...

void	SetTypeMsg (const google::protobuf::Message *_msg)
	Set a message specific for this visual type. More...

void	SetVisibilityFlags (uint32_t _flags)
	Set visibility flags for this visual and all children. More...

virtual void	SetVisible (bool _visible, bool _cascade=true)
	Set whether the visual is visible. More...

void	SetWireframe (bool _show)
	Enable or disable wireframe for this visual. More...

void	SetWorldPose (const ignition::math::Pose3d &_pose)
	Set the world pose of the visual. More...

void	SetWorldPosition (const ignition::math::Vector3d &_pos)
	Set the world linear position of the visual. More...

void	SetWorldRotation (const ignition::math::Quaterniond &_rot)
	Set the world orientation of the visual. More...

void	ShowBoundingBox ()
	Display the bounding box visual. More...

void	ShowCollision (bool _show)
	Display the collision visuals. More...

void	ShowCOM (bool _show)
	Display Center of Mass visuals. More...

void	ShowInertia (bool _show)
	Display inertia visuals. More...

void	ShowJoints (bool _show)
	Display joint visuals. More...

void	ShowLinkFrame (bool _show)
	Display link frame visuals. More...

void	ShowSkeleton (bool _show)
	Display the skeleton visuals. More...

ignition::math::Color	Specular () const
	Get the specular color of the visual. More...

void	ToggleLayer (const int32_t _layer)
	Toggle layer visibility. More...

void	ToggleVisible ()
	Toggle whether this visual is visible. More...

void	Update ()
	Update the visual. More...

void	UpdateFromMsg (ConstVisualPtr &_msg)
	Update a visual based on a message. More...

bool	UseRTShader () const
	Get whether this visual uses RT shader system. More...

bool	Wireframe () const
	Get whether wireframe is enabled for this visual. More...

ignition::math::Pose3d	WorldPose () const
	Get the global pose of the visual. More...

Static Public Member Functions
static Visual::VisualType	ConvertVisualType (const msgs::Visual::Type &_type)
	Convert from msgs::Visual::Type to VisualType. More...

static msgs::Visual::Type	ConvertVisualType (const Visual::VisualType &_type)
	Convert from msgs::Visual::Type to VisualType. More...

static void	InsertMesh (const common::Mesh *_mesh, const std::string &_subMesh="", bool _centerSubmesh=false)
	Insert a mesh into Ogre. More...

Protected Member Functions
	Visual (VisualPrivate &_dataPtr, const std::string &_name, VisualPtr _parent, bool _useRTShader=true)

	Visual (VisualPrivate &_dataPtr, const std::string &_name, ScenePtr _scene, bool _useRTShader=true)

void	ProcessMaterialMsg (const msgs::Material &_msg)
	Process a gazebo material message, which uses proto2 syntax that allows unset fields to be ignored, which is the legacy behavior for gazebo10 and earlier. More...

void	ProcessMaterialMsg (const ignition::msgs::Material &_msg)
	Process a material message. More...

Protected Attributes
VisualPrivate *	dataPtr

Detailed Description

A renderable object.

Member Enumeration Documentation

◆ VisualType

enum VisualType

Type of visual.

Todo:: Move this to RenderingTypes.hh

Enumerator
VT_ENTITY	Entity visual.
VT_MODEL	Model visual.
VT_LINK	Link visual.
VT_VISUAL	Visual visual.
VT_COLLISION	Collision visual.
VT_SENSOR	Sensor visual.
VT_GUI	GUI visual.
VT_PHYSICS	Physics data visual.

Constructor & Destructor Documentation

◆ Visual() [1/4]

Visual	(	const std::string &	_name,
		VisualPtr	_parent,
		bool	_useRTShader = `true`
	)

Constructor.

Parameters

[in]	_name	Name of the visual.
[in]	_parent	Parent of the visual.
[in]	_useRTShader	True if the visual should use the real-time shader system (RTShader).

◆ Visual() [2/4]

Visual	(	const std::string &	_name,
		ScenePtr	_scene,
		bool	_useRTShader = `true`
	)

Constructor.

Parameters

[in]	_name	Name of the visual.
[in]	_scene	Scene containing the visual.
[in]	_useRTShader	True if the visual should use the real-time shader system (RTShader).

◆ ~Visual()

virtual ~Visual ( )

virtual

Destructor.

◆ Visual() [3/4]

Visual	(	VisualPrivate &	_dataPtr,
		const std::string &	_name,
		VisualPtr	_parent,
		bool	_useRTShader = `true`
	)

protected

◆ Visual() [4/4]

Visual	(	VisualPrivate &	_dataPtr,
		const std::string &	_name,
		ScenePtr	_scene,
		bool	_useRTShader = `true`
	)

protected

Member Function Documentation

◆ AddPendingChild()

void AddPendingChild ( std::pair< VisualType, const google::protobuf::Message *> _pair )

Push a message for a child of this visual which hasn't been loaded yet.

Parameters

[in] _pair Pair with the child visual type and the message for the child.

◆ Ambient()

ignition::math::Color Ambient ( ) const

Get the ambient color of the visual.

Returns: Ambient color.

◆ AttachLineVertex()

void AttachLineVertex	(	DynamicLines *	_line,
		unsigned int	_index
	)

Attach a vertex of a line to the position of the visual.

Parameters

[in]	_line	Line to attach to this visual.
[in]	_index	Index of the line vertex to attach.

◆ AttachMesh()

Ogre::MovableObject* AttachMesh	(	const std::string &	_meshName,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`,
		const std::string &	_objName = `""`
	)

Attach a mesh to this visual by name.

Parameters

[in]	_meshName	Name of the mesh.
[in]	_subMesh	Name of the submesh. Empty string to use all submeshes.
[in]	_centerSubmesh	True to center a submesh.
[in]	_objName	Name of the attached Object to put the mesh onto.

◆ AttachObject()

void AttachObject ( Ogre::MovableObject * _obj )

Attach a renerable object to the visual.

Parameters

[in] _obj A movable object to attach to the visual.

◆ AttachVisual()

void AttachVisual ( VisualPtr _vis )

Attach a visual to this visual.

Parameters

[in] _vis Visual to attach.

◆ BoundingBox()

ignition::math::AxisAlignedBox BoundingBox ( ) const

Get the bounding box for the visual.

Returns: The bounding box in world coordinates.

◆ ClearParent()

void ClearParent ( )

Clear parents.

◆ Clone()

VisualPtr Clone	(	const std::string &	_name,
		VisualPtr	_newParent
	)

Clone the visual with a new name.

Parameters

[in]	_name	Name of the cloned Visual.
[in]	_newParent	Parent of the cloned Visual.

Returns: The visual.

◆ ConvertVisualType() [1/2]

static Visual::VisualType ConvertVisualType ( const msgs::Visual::Type & _type )

static

Convert from msgs::Visual::Type to VisualType.

Parameters

[in] _type A msgs::Visual::Type enum.

Returns: VisualType enum.

◆ ConvertVisualType() [2/2]

static msgs::Visual::Type ConvertVisualType ( const Visual::VisualType & _type )

static

Convert from msgs::Visual::Type to VisualType.

Parameters

[in] _type VisualType enum.

Returns: A msgs::Visual::Type enum.

◆ CreateDynamicLine()

DynamicLines* CreateDynamicLine ( RenderOpType _type = RENDERING_LINE_STRIP )

Add a line to the visual.

Parameters

[in] _type The type of line to make.

Returns: A pointer to the new dynamic line.

◆ DeleteDynamicLine()

void DeleteDynamicLine ( DynamicLines * _line )

Delete a dynamic line.

Parameters

[in] _line Pointer to the line to delete.

◆ DerivedScale()

ignition::math::Vector3d DerivedScale ( ) const

Get the scale of the visual as inherited from all parents.

Returns: The derived scaling factor.

◆ DerivedTransparency()

float DerivedTransparency ( ) const

Get the transparency of the visual as inherited from all parents.

Returns: The derived transparency.

◆ DetachObjects()

void DetachObjects ( )

Detach all objects.

◆ DetachVisual() [1/2]

void DetachVisual ( VisualPtr _vis )

Detach a visual.

Parameters

[in] _vis Visual to detach.

◆ DetachVisual() [2/2]

void DetachVisual ( const std::string & _name )

Detach a visual.

Parameters

[in] _name Name of the visual to detach.

◆ Diffuse()

ignition::math::Color Diffuse ( ) const

Get the diffuse color of the visual.

Returns: Diffuse color.

◆ DisableTrackVisual()

void DisableTrackVisual ( )

Disable tracking of a visual.

◆ Emissive()

ignition::math::Color Emissive ( ) const

Get the emissive color of the visual.

Returns: Emissive color.

◆ EnableTrackVisual()

void EnableTrackVisual ( VisualPtr _vis )

Set one visual to track/follow another.

Parameters

[in] _vis Visual to track.

◆ FillMaterialMsg()

void FillMaterialMsg ( ignition::msgs::Material & _msg ) const

Fill an ignition::msgs::Material message based on this visual's material properties.

Parameters

[out] _msg Ignition message to fill.

◆ Fini()

virtual void Fini ( )

virtual

Helper for the destructor.

Reimplemented in ApplyWrenchVisual, CameraVisual, WrenchVisual, JointVisual, and LogicalCameraVisual.

◆ GetAttachedObjectCount()

unsigned int GetAttachedObjectCount ( ) const

Return the number of attached movable objects.

Returns: The number of attached movable objects.

◆ GetCastShadows()

bool GetCastShadows ( ) const

Get whether the visual casts shadows.

Returns: True if the visual casts shadows.

◆ GetChild()

VisualPtr GetChild ( unsigned int _index )

Get an attached visual based on an index.

Index should be between 0 and Visual::GetChildCount.

Parameters

[in] _index Index of the child to retreive.

Returns: Pointer to the child visual, NULL if index is invalid.

◆ GetChildCount()

unsigned int GetChildCount ( )

Get the number of attached visuals.

Returns: The number of children.

◆ GetDepth()

unsigned int GetDepth ( ) const

Get the depth of this visual, where 0 is the depth of the world visual.

Returns: This visual's depth.

◆ GetGeometrySize()

ignition::math::Vector3d GetGeometrySize ( ) const

Get the geometry size.

Returns: Size of geometry.

◆ GetGeometryType()

std::string GetGeometryType ( ) const

Get the geometry type.

Returns: Type of geometry in string.

◆ GetHighlighted()

bool GetHighlighted ( ) const

Get whether or not the visual is visually highlighted.

This is most often means that an object is selected by a user via the GUI.

Returns: True if the visual is highlighted.

◆ GetId()

uint32_t GetId ( ) const

Get the id associated with this visual.

◆ GetLighting()

bool GetLighting ( ) const

Get whether or not lighting is enabled.

Returns: True if lighting is enabled.

◆ GetMaterialName()

std::string GetMaterialName ( ) const

Get the name of the material.

Returns: The name of the visual applied to this visual.

◆ GetMeshName()

std::string GetMeshName ( ) const

The name of the mesh set in the visual's SDF.

Returns: Name of the mesh.

◆ GetNormalMap()

std::string GetNormalMap ( ) const

Get the normal map.

Returns: The name of the normal map material.

◆ GetNthAncestor()

VisualPtr GetNthAncestor ( unsigned int _n )

Get the nth ancestor counting from the world visual.

GetNthAncestor(0) returns the world visual. GetNthAncestor(1) returns the RootVisual. GetNthAncestor(2) returns the ancestor which is a child of the root visual and so on.

Parameters

[in] _n Depth of the ancestor.

Returns: The nth ancestor counting from the world.

◆ GetParent()

VisualPtr GetParent ( ) const

Get the parent visual, if one exists.

Returns: Pointer to the parent visual, NULL if no parent.

◆ GetRootVisual()

VisualPtr GetRootVisual ( )

Get the root visual.

Returns: The root visual, which is one level below the world visual.

◆ GetScene()

ScenePtr GetScene ( ) const

Get current.

Returns: Pointer to the scene.

◆ GetSceneNode()

Ogre::SceneNode* GetSceneNode ( ) const

Return the scene Node of this visual entity.

Returns: The Ogre scene node.

◆ GetSDF()

sdf::ElementPtr GetSDF ( ) const

Get the visual SDF.

Note that visuals are abstract. This SDF could be associated with a visual that represents a model, a link, a visual (inside a link), or a visualization object (e.g. LaserVisual). Therefore this SDF may store more fields than actually used.

Returns: SDF of the visual.

◆ GetShaderType()

std::string GetShaderType ( ) const

Get the shader type.

Returns: String of the shader type: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

◆ GetSubMeshName()

std::string GetSubMeshName ( ) const

Get the name of the sub mesh set in the visual's SDF.

Returns: Name of the submesh. Empty string if no submesh is specified.

◆ GetTransparency()

float GetTransparency ( )

Get the transparency.

Returns: The transparency.

◆ GetType()

Visual::VisualType GetType ( ) const

Get type of visual.

Returns: Visual type.

◆ GetVisibilityFlags()

uint32_t GetVisibilityFlags ( )

Get visibility flags for this visual and all children.

Returns: The visiblity flags.

See also: GZ_VISIBILITY_ALL; GZ_VISIBILITY_GUI; GZ_VISIBILITY_SELECTABLE

◆ GetVisible()

bool GetVisible ( ) const

Get whether the visual is visible.

Returns: True if the visual is visible.

◆ HasAttachedObject()

bool HasAttachedObject ( const std::string & _name )

Returns true if an object with _name is attached.

Parameters

[in] _name Name of an object to find.

◆ InheritTransparency()

bool InheritTransparency ( ) const

Get whether this visual inherits transparency from parent.

Returns: True if the visual inherits transparency.

◆ Init()

void Init ( )

Helper for the contructor.

◆ InitialRelativePose()

ignition::math::Pose3d InitialRelativePose ( ) const

Get the initial relative pose of the visual.

Returns: The visual's initial relative pose.

◆ InsertMesh() [1/2]

void InsertMesh	(	const std::string &	_meshName,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`
	)

Insert a mesh into Ogre.

Parameters

[in]	_meshName	Name of the mesh to insert.
[in]	_subMesh	Name of the mesh within _meshName to insert.
[in]	_centerSubmesh	True to center the submesh.

◆ InsertMesh() [2/2]

static void InsertMesh	(	const common::Mesh *	_mesh,
		const std::string &	_subMesh = `""`,
		bool	_centerSubmesh = `false`
	)

static

Insert a mesh into Ogre.

Parameters

[in]	_mesh	Pointer to the mesh to insert.
[in]	_subMesh	Name of the mesh within _meshName to insert.
[in]	_centerSubmesh	True to center the submesh.

◆ IsAncestorOf()

bool IsAncestorOf ( const rendering::VisualPtr _visual ) const

Check if this visual is an ancestor of another visual.

Parameters

[in] _visual The other visual.

Returns: True if this visual is an ancestor.

◆ IsDescendantOf()

bool IsDescendantOf ( const rendering::VisualPtr _visual ) const

Check if this visual is a descendant of another visual.

Parameters

[in] _visual The other visual.

Returns: True if this visual is a descendant.

◆ IsPlane()

bool IsPlane ( ) const

Return true if the visual is a plane.

Returns: True if a plane.

◆ IsStatic()

bool IsStatic ( ) const

Return true if the visual is a static geometry.

Returns: True if the visual is static.

◆ Load() [1/2]

void Load ( sdf::ElementPtr _sdf )

Load the visual with a set of parameters.

Parameters

[in] _sdf Load from an SDF element.

◆ Load() [2/2]

virtual void Load ( )

virtual

Load the visual with default parameters.

Reimplemented in SelectionObj, ApplyWrenchVisual, SonarVisual, TransmitterVisual, AxisVisual, LinkFrameVisual, OriginVisual, and ArrowVisual.

◆ LoadFromMsg()

void LoadFromMsg ( ConstVisualPtr & _msg )

Load from a message.

Parameters

[in] _msg A visual message.

◆ LoadPlugin()

void LoadPlugin	(	const std::string &	_filename,
		const std::string &	_name,
		sdf::ElementPtr	_sdf
	)

Load a plugin.

Parameters

_filename	The filename of the plugin
_name	A unique name for the plugin
_sdf	The SDF to pass into the plugin.

◆ MakeStatic()

void MakeStatic ( )

Make the visual objects static renderables.

◆ MoveToPosition()

void MoveToPosition	(	const ignition::math::Pose3d &	_pose,
		const double	_time
	)

Move to a pose and over a given time.

Parameters

[in]	_pose	Pose the visual will end at.
[in]	_time	Time it takes the visual to move to the pose.

◆ MoveToPositions()

void MoveToPositions	(	const std::vector< ignition::math::Pose3d > &	_pts,
		const double	_time,
		std::function< void()>	_onComplete = `nullptr`
	)

Move to a series of pose and over a given time.

Parameters

[in]	_poses	Series of poses the visual will move to.
[in]	_time	Time it takes the visual to move to the pose.
[in]	_onComplete	Callback used when the move is complete.

◆ Name()

std::string Name ( ) const

Get the name of the visual.

Returns: The name of the visual.

◆ Pose()

ignition::math::Pose3d Pose ( ) const

Get the pose of the visual.

Returns: The Visual's pose.

◆ Position()

ignition::math::Vector3d Position ( ) const

Get the position of the visual.

Returns: The visual's position.

◆ ProcessMaterialMsg() [1/2]

void ProcessMaterialMsg ( const msgs::Material & _msg )

protected

Process a gazebo material message, which uses proto2 syntax that allows unset fields to be ignored, which is the legacy behavior for gazebo10 and earlier.

Parameters

[in] _msg The ignition material message.

◆ ProcessMaterialMsg() [2/2]

void ProcessMaterialMsg ( const ignition::msgs::Material & _msg )

protected

Process a material message.

Note that ignition msgs5+ uses proto3 syntax, which does not distinguish between unset fields and fields with a default value, default values will be used for any fields not explicitly set when using this function.

Parameters

[in] _msg The ignition material message.

◆ RemovePlugin()

void RemovePlugin ( const std::string & _name )

Remove a running plugin.

Parameters

_name The unique name of the plugin to remove

◆ Rotation()

ignition::math::Quaterniond Rotation ( ) const

Get the rotation of the visual.

Returns: The visual's rotation.

◆ Scale()

ignition::math::Vector3d Scale ( ) const

Get the scale.

Returns: The scaling factor.

◆ SetAmbient()

void SetAmbient	(	const ignition::math::Color &	_color,
		const bool	_cascade = `true`
	)

Set the ambient color of the visual.

Parameters

[in]	_color	The ambient color.
[in]	_cascade	Whether to set this parameter in children too.

◆ SetCastShadows()

void SetCastShadows ( bool _shadows )

Set whether the visual should cast shadows.

Parameters

[in] _shadows True to enable shadows.

◆ SetDiffuse()

void SetDiffuse	(	const ignition::math::Color &	_color,
		const bool	_cascade = `true`
	)

Set the diffuse color of the visual.

Parameters

[in]	_color	Set the diffuse color.
[in]	_cascade	Whether to set this parameter in children too.

◆ SetEmissive()

virtual void SetEmissive	(	const ignition::math::Color &	_color,
		const bool	_cascade = `true`
	)

virtual

Set the emissive value.

Parameters

[in]	_color	The emissive color.
[in]	_cascade	Whether to set this parameter in children too.

Reimplemented in LaserVisual.

◆ SetHighlighted()

virtual void SetHighlighted ( bool _highlighted )

virtual

Set the visual to be visually highlighted.

This is most often used when an object is selected by a user via the GUI.

Parameters

[in] _highlighted True to enable the highlighting.

Reimplemented in LinkFrameVisual.

◆ SetId()

void SetId ( uint32_t _id )

Set the id associated with this visual.

◆ SetInheritTransparency()

void SetInheritTransparency ( const bool _inherit )

Set whether to inherit transparency from parent.

Parameters

[in] _inherit True to inherit transparency.

◆ SetLayer()

void SetLayer ( const int32_t _layer )

Set the layer this visual belongs to.

Parameters

[in] _layer Index of the layer.

◆ SetLighting()

void SetLighting ( bool _lighting )

Set whether or not to enable or disable lighting.

Parameters

[in] _lighting True to enable lighting.

◆ SetMaterial()

void SetMaterial	(	const std::string &	_materialName,
		bool	_unique = `true`,
		const bool	_cascade = `true`
	)

Set the material.

Parameters

[in]	_materialName	The name of the material.
[in]	_unique	True to make the material unique, which allows the material to change without changing materials that originally had the same name.
[in]	_cascade	Whether to set this parameter in children too.

◆ SetMaterialShaderParam()

void SetMaterialShaderParam	(	const std::string &	_paramName,
		const std::string &	_shaderType,
		const std::string &	_value
	)

Set a shader program parameter associated to this visual's material.

Parameters

[in]	_paramName	Name of shader parameter
[in]	_shaderType	Type of shader. Supported types: vertex, fragment
[in]	_value	Value to set the parameter to. The value string can be a number (int, float) or a space delimited array of numbers (floats). The value type must match the type defined in the shaders. Note: Setting vec2/float2 params is only supported in ogre1.9+

◆ SetName()

void SetName ( const std::string & _name )

Set the name of the visual.

Parameters

[in] _name Name of the visual

◆ SetNormalMap()

void SetNormalMap ( const std::string & _nmap )

Set the normal map.

Parameters

[in] _nmap Name of the normal map material.

◆ SetPose()

void SetPose ( const ignition::math::Pose3d & _pose )

Set the pose of the visual.

Parameters

[in] _pose The new pose of the visual.

◆ SetPosition()

void SetPosition ( const ignition::math::Vector3d & _pos )

Set the position of the visual.

Parameters

[in] _pos The position to set the visual to.

◆ SetRibbonTrail()

void SetRibbonTrail	(	bool	_value,
		const ignition::math::Color &	_initialColor,
		const ignition::math::Color &	_changeColor
	)

True on or off a ribbon trail.

Parameters

[in]	_value	True to enable ribbon trail.
[in]	_initialColor	The initial color of the ribbon trail.
[in]	_changeColor	Color to change too as the trail grows.

◆ SetRotation()

void SetRotation ( const ignition::math::Quaterniond & _rot )

Set the rotation of the visual.

Parameters

[in] _rot The rotation of the visual.

◆ SetScale()

void SetScale ( const ignition::math::Vector3d & _scale )

Set the scale.

Parameters

[in] _scale The scaling factor for the visual.

◆ SetScene()

void SetScene ( ScenePtr _scene )

Set current scene.

Parameters

[in] _scene Pointer to the scene.

◆ SetShaderType()

void SetShaderType ( const std::string & _type )

Set the shader type for the visual's material.

Parameters

[in] _type Shader type string: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space".

◆ SetSkeletonPose()

void SetSkeletonPose ( const msgs::PoseAnimation & _pose )

Set animation skeleton pose.

Parameters

[in] _pose Skelton message

◆ SetSpecular()

void SetSpecular	(	const ignition::math::Color &	_color,
		const bool	_cascade = `true`
	)

Set the specular color of the visual.

Parameters

[in]	_color	Specular color.
[in]	_cascade	Whether to set this parameter in children too.

◆ SetTransparency()

void SetTransparency ( float _trans )

Set the transparency.

Parameters

[in] _trans The transparency, between 0 and 1 where 0 is no transparency.

◆ SetType()

void SetType ( const Visual::VisualType _type )

Set type of visual.

Parameters

[in] _type Visual type.

◆ SetTypeMsg()

void SetTypeMsg ( const google::protobuf::Message * _msg )

Set a message specific for this visual type.

For example, a link visual will have a link message.

Parameters

[in] _msg Message for this visual.

◆ SetVisibilityFlags()

void SetVisibilityFlags ( uint32_t _flags )

Set visibility flags for this visual and all children.

Parameters

[in] _flags The visiblity flags.

See also: GZ_VISIBILITY_ALL; GZ_VISIBILITY_GUI; GZ_VISIBILITY_SELECTABLE

◆ SetVisible()

virtual void SetVisible	(	bool	_visible,
		bool	_cascade = `true`
	)

virtual

Set whether the visual is visible.

Parameters

[in]	_visible	set this visual visible.
[in]	_cascade	setting this parameter in children too.

Reimplemented in JointVisual, and ArrowVisual.

◆ SetWireframe()

void SetWireframe ( bool _show )

Enable or disable wireframe for this visual.

Parameters

[in] _show True to enable wireframe for this visual.

◆ SetWorldPose()

void SetWorldPose ( const ignition::math::Pose3d & _pose )

Set the world pose of the visual.

Parameters

[in] _pose Pose of the visual in the world coordinate frame.

◆ SetWorldPosition()

void SetWorldPosition ( const ignition::math::Vector3d & _pos )

Set the world linear position of the visual.

Parameters

[in] _pose Position in the world coordinate frame.

◆ SetWorldRotation()

void SetWorldRotation ( const ignition::math::Quaterniond & _rot )

Set the world orientation of the visual.

Parameters

[in] _rot Rotation in the world coordinate frame.

◆ ShowBoundingBox()

void ShowBoundingBox ( )

Display the bounding box visual.

◆ ShowCollision()

void ShowCollision ( bool _show )

Display the collision visuals.

Parameters

[in] _show True to show visuals labeled as collision objects.

◆ ShowCOM()

void ShowCOM ( bool _show )

Display Center of Mass visuals.

Parameters

[in] _show True to show center of mass visualizations.

◆ ShowInertia()

void ShowInertia ( bool _show )

Display inertia visuals.

Parameters

[in] _show True to show inertia visualizations.

◆ ShowJoints()

void ShowJoints ( bool _show )

Display joint visuals.

Parameters

[in] _show True to show joint visualizations.

◆ ShowLinkFrame()

void ShowLinkFrame ( bool _show )

Display link frame visuals.

Parameters

[in] _show True to show link frame visualizations.

◆ ShowSkeleton()

void ShowSkeleton ( bool _show )

Display the skeleton visuals.

Parameters

[in] _show True to show skeleton visuals.

◆ Specular()

ignition::math::Color Specular ( ) const

Get the specular color of the visual.

Returns: Specular color.

◆ ToggleLayer()

void ToggleLayer ( const int32_t _layer )

Toggle layer visibility.

If the visual is on the specified layer its visibility will be toggled.

Parameters

[in] _layer Index of the layer to toggle.

◆ ToggleVisible()

void ToggleVisible ( )

Toggle whether this visual is visible.

◆ Update()

void Update ( )

Update the visual.

◆ UpdateFromMsg()

void UpdateFromMsg ( ConstVisualPtr & _msg )

Update a visual based on a message.

Parameters

[in] _msg The visual message.

◆ UseRTShader()

bool UseRTShader ( ) const

Get whether this visual uses RT shader system.

Returns: True if RT shader is used.

◆ Wireframe()

bool Wireframe ( ) const

Get whether wireframe is enabled for this visual.

Returns: True if wireframe is enabled for this visual.

◆ WorldPose()

ignition::math::Pose3d WorldPose ( ) const

Get the global pose of the visual.

Returns: The pose in the world coordinate frame.

Member Data Documentation

◆ dataPtr

VisualPrivate* dataPtr

protected

The documentation for this class was generated from the following file:

Visual.hh

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Enumeration Documentation

◆ VisualType

Constructor & Destructor Documentation

◆ Visual() [1/4]

◆ Visual() [2/4]

◆ ~Visual()

◆ Visual() [3/4]

◆ Visual() [4/4]

Member Function Documentation

◆ AddPendingChild()

◆ Ambient()

◆ AttachLineVertex()

◆ AttachMesh()

◆ AttachObject()

◆ AttachVisual()

◆ BoundingBox()

◆ ClearParent()

◆ Clone()

◆ ConvertVisualType() [1/2]

◆ ConvertVisualType() [2/2]

◆ CreateDynamicLine()

◆ DeleteDynamicLine()

◆ DerivedScale()

◆ DerivedTransparency()

◆ DetachObjects()

◆ DetachVisual() [1/2]

◆ DetachVisual() [2/2]

◆ Diffuse()

◆ DisableTrackVisual()

◆ Emissive()

◆ EnableTrackVisual()

◆ FillMaterialMsg()

◆ Fini()

◆ GetAttachedObjectCount()

◆ GetCastShadows()

◆ GetChild()

◆ GetChildCount()

◆ GetDepth()

◆ GetGeometrySize()

◆ GetGeometryType()

◆ GetHighlighted()

◆ GetId()

◆ GetLighting()

◆ GetMaterialName()

◆ GetMeshName()

◆ GetNormalMap()

◆ GetNthAncestor()

◆ GetParent()

◆ GetRootVisual()

◆ GetScene()

◆ GetSceneNode()

◆ GetSDF()

◆ GetShaderType()

◆ GetSubMeshName()

◆ GetTransparency()

◆ GetType()

◆ GetVisibilityFlags()

◆ GetVisible()

◆ HasAttachedObject()

◆ InheritTransparency()

◆ Init()

◆ InitialRelativePose()

◆ InsertMesh() [1/2]

◆ InsertMesh() [2/2]

◆ IsAncestorOf()

◆ IsDescendantOf()

◆ IsPlane()

◆ IsStatic()

◆ Load() [1/2]

◆ Load() [2/2]

◆ LoadFromMsg()

◆ LoadPlugin()

◆ MakeStatic()

◆ MoveToPosition()