Visual.hh

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/*
 * Copyright 2012 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
/* Desc: Ogre Visual Class
 * Author: Nate Koenig
 * Date: 14 Dec 2007
 */

#ifndef _VISUAL_HH_
#define _VISUAL_HH_

#include <boost/enable_shared_from_this.hpp>
#include <string>
#include <utility>
#include <list>
#include <vector>

#include <sdf/sdf.hh>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/Event.hh"
#include "gazebo/math/Box.hh"
#include "gazebo/math/Pose.hh"
#include "gazebo/math/Quaternion.hh"
#include "gazebo/math/Vector3.hh"
#include "gazebo/math/Vector2d.hh"

#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/common/CommonTypes.hh"

namespace Ogre
{
  class MovableObject;
  class SceneNode;
  class StaticGeometry;
  class RibbonTrail;
  class AnimationState;
  class SkeletonInstance;
}

namespace gazebo
{
  namespace rendering
  {
    class WireBox;


    class Visual : public boost::enable_shared_from_this<Visual>
    {
      public: Visual(const std::string &_name, VisualPtr _parent,
                     bool _useRTShader = true);

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

      public: virtual ~Visual();

      public: void Init();

      public: void Fini();

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

      public: void LoadFromMsg(ConstVisualPtr &_msg);

      public: void Load(sdf::ElementPtr _sdf);

      public: virtual void Load();

      public: void Update();

      public: void SetName(const std::string &_name);

      public: std::string GetName() const;

      public: void AttachVisual(VisualPtr _vis);

      public: void DetachVisual(VisualPtr _vis);

      public: void DetachVisual(const std::string &_name);

      public: void AttachObject(Ogre::MovableObject *_obj);

      public: bool HasAttachedObject(const std::string &_name);

      public: unsigned int GetAttachedObjectCount() const;

      public: void DetachObjects();

      public: unsigned int GetChildCount();

      public: VisualPtr GetChild(unsigned int _index);

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

      public: void SetScale(const math::Vector3 &_scale);

      public: math::Vector3 GetScale();

      public: void SetMaterial(const std::string &_materialName,
                               bool _unique = true);

      public: void SetAmbient(const common::Color &_color);

      public: void SetDiffuse(const common::Color &_color);

      public: void SetSpecular(const common::Color &_color);

      public: void AttachAxes();

      public: void SetWireframe(bool _show);

      public: void SetTransparency(float _trans);

      public: float GetTransparency();

      public: void SetHighlighted(bool _highlighted);

      public: virtual void SetEmissive(const common::Color &_color);

      public: void SetCastShadows(bool _shadows);

      public: void SetVisible(bool _visible, bool _cascade = true);

      public: void ToggleVisible();

      public: bool GetVisible() const;

      public: void SetPosition(const math::Vector3 &_pos);

      public: void SetRotation(const math::Quaternion &_rot);

      public: void SetPose(const math::Pose &_pose);

      public: math::Vector3 GetPosition() const;

      public: math::Quaternion GetRotation() const;

      public: math::Pose GetPose() const;

      public: math::Pose GetWorldPose() const;

      public: void SetWorldPose(const math::Pose _pose);

      public: void SetWorldPosition(const math::Vector3 &_pos);

      public: void SetWorldRotation(const math::Quaternion &_rot);

      public: Ogre::SceneNode *GetSceneNode() const;

      public: void MakeStatic();

      public: bool IsStatic() const;

      public: void EnableTrackVisual(VisualPtr _vis);

      public: void DisableTrackVisual();

      public: std::string GetNormalMap() const;

      public: void SetNormalMap(const std::string &_nmap);

      public: void SetRibbonTrail(bool _value,
                  const common::Color &_initialColor,
                  const common::Color &_changeColor);

      public: math::Box GetBoundingBox() const;

      public: DynamicLines *CreateDynamicLine(
                  RenderOpType _type = RENDERING_LINE_STRIP);

      public: void DeleteDynamicLine(DynamicLines *_line);

      public: void AttachLineVertex(DynamicLines *_line,
                                     unsigned int _index);

      public: std::string GetMaterialName() const;

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

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

      public: void UpdateFromMsg(ConstVisualPtr &_msg);

      public: bool IsPlane() const;

      public: VisualPtr GetParent() const;

      public: VisualPtr GetRootVisual();

      public: std::string GetShaderType() const;

      public: void SetShaderType(const std::string &_type);

      public: void MoveToPosition(const math::Pose &_pose, double _time);

      public: void MoveToPositions(const std::vector<math::Pose> &_pts,
                                   double _time,
                                   boost::function<void()> _onComplete = NULL);

      public: void SetVisibilityFlags(uint32_t _flags);

      public: uint32_t GetVisibilityFlags();

      public: void ShowBoundingBox();

      public: void ShowCollision(bool _show);

      public: void ShowSkeleton(bool _show);

      public: void SetScene(ScenePtr _scene);

      public: ScenePtr GetScene() const;

      public: void ShowJoints(bool _show);

      public: void ShowCOM(bool _show);

      public: void SetSkeletonPose(const msgs::PoseAnimation &_pose);

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

      public: void RemovePlugin(const std::string &_name);

      public: uint32_t GetId() const;

      public: void SetId(uint32_t _id);

      private: void LoadPlugins();

      private: void LoadPlugin(sdf::ElementPtr _sdf);

      private: std::vector<VisualPluginPtr> plugins;

      private: void GetBoundsHelper(Ogre::SceneNode *_node,
                                    math::Box &_box) const;

      public: std::string GetMeshName() const;

      public: std::string GetSubMeshName() const;

      public: void ClearParent();

      protected: ScenePtr scene;

      protected: Ogre::SceneNode *sceneNode;

      protected: VisualPtr parent;

      private: bool GetCenterSubMesh() const;

      private: void DestroyAllAttachedMovableObjects(
                   Ogre::SceneNode *_sceneNode);

      private: sdf::ElementPtr sdf;

      private: std::string myMaterialName;

      private: std::string origMaterialName;

      private: float transparency;

      private: bool isStatic;

      private: Ogre::StaticGeometry *staticGeom;

      private: bool visible;

      private: Ogre::RibbonTrail *ribbonTrail;

      private: Ogre::SkeletonInstance *skeleton;

      private: event::ConnectionPtr preRenderConnection;

      private: std::list<DynamicLines*> lines;

      private: std::list< std::pair<DynamicLines*, unsigned int> > lineVertices;

      private: std::string name;

      private: std::vector<VisualPtr> children;

      private: Ogre::AnimationState *animState;

      private: common::Time prevAnimTime;

      private: boost::function<void()> onAnimationComplete;

      private: bool useRTShader;

      private: bool initialized;

      private: WireBox *boundingBox;

      private: uint32_t id;

      private: static uint32_t visualIdCount;

      private: math::Vector3 scale;
    };
  }
}
#endif