Scene.hh

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/*
 * Copyright (C) 2012-2014 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.
 *
*/
#ifndef _SCENE_HH_
#define _SCENE_HH_

#include <vector>
#include <map>
#include <string>
#include <list>
#include <boost/enable_shared_from_this.hpp>
#include <boost/shared_ptr.hpp>
#include <boost/unordered/unordered_map.hpp>
#include <boost/thread/recursive_mutex.hpp>

#include <sdf/sdf.hh>

#include "gazebo/msgs/msgs.hh"

#include "gazebo/rendering/RenderTypes.hh"

#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/common/Events.hh"
#include "gazebo/common/Color.hh"
#include "gazebo/math/Vector2i.hh"
#include "gazebo/util/system.hh"

namespace SkyX
{
  class SkyX;
  class BasicController;
}

namespace Ogre
{
  class SceneManager;
  class RaySceneQuery;
  class Node;
  class Entity;
  class Mesh;
  class Vector3;
  class Quaternion;
}

namespace boost
{
  class mutex;
}

namespace gazebo
{
  namespace rendering
  {
    class Projector;
    class Light;
    class Visual;
    class Grid;
    class Heightmap;


    class GAZEBO_VISIBLE Scene : public boost::enable_shared_from_this<Scene>
    {
      public: enum SkyXMode {
        GZ_SKYX_ALL = 0x0FFFFFFF,
        GZ_SKYX_CLOUDS = 0x0000001,
        GZ_SKYX_MOON = 0x0000002,
        GZ_SKYX_NONE = 0
      };

      private: Scene() {}

      public: Scene(const std::string &_name,
                    bool _enableVisualizations = false,
                    bool _isServer = false);

      public: virtual ~Scene();

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

      public: void Load();

      public: void Init();

      public: void PreRender();

      public: Ogre::SceneManager *GetManager() const;

      public: std::string GetName() const;

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

      public: common::Color GetAmbientColor() const;

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

      public: common::Color GetBackgroundColor() const;

      public: void CreateGrid(uint32_t _cellCount, float _cellLength,
                              float _lineWidth, const common::Color &_color);

      public: Grid *GetGrid(uint32_t _index) const;

      public: uint32_t GetGridCount() const;

      public: CameraPtr CreateCamera(const std::string &_name,
                                     bool _autoRender = true);

      public: DepthCameraPtr CreateDepthCamera(const std::string &_name,
                                               bool _autoRender = true);

      public: GpuLaserPtr CreateGpuLaser(const std::string &_name,
                                         bool _autoRender = true);

      public: uint32_t GetCameraCount() const;

      public: CameraPtr GetCamera(uint32_t _index) const;

      public: CameraPtr GetCamera(const std::string &_name) const;

      public: UserCameraPtr CreateUserCamera(const std::string &_name);

      public: uint32_t GetUserCameraCount() const;

      public: UserCameraPtr GetUserCamera(uint32_t _index) const;

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

      public: LightPtr GetLight(const std::string &_name) const;

      public: uint32_t GetLightCount() const;

      public: LightPtr GetLight(uint32_t _index) const;

      public: VisualPtr GetVisual(const std::string &_name) const;

      public: VisualPtr GetVisual(uint32_t _id) const;

      public: void SelectVisual(const std::string &_name,
                                const std::string &_mode);

      public: VisualPtr GetVisualAt(CameraPtr _camera,
                                    const math::Vector2i &_mousePos,
                                    std::string &_mod);

      public: void SnapVisualToNearestBelow(const std::string &_visualName);

      public: VisualPtr GetVisualAt(CameraPtr _camera,
                                    const math::Vector2i &_mousePos);

      public: VisualPtr GetModelVisualAt(CameraPtr _camera,
                                         const math::Vector2i &_mousePos);


      public: VisualPtr GetVisualBelow(const std::string &_visualName);

      public: void GetVisualsBelowPoint(const math::Vector3 &_pt,
                                        std::vector<VisualPtr> &_visuals);


      public: double GetHeightBelowPoint(const math::Vector3 &_pt);

      public: bool GetFirstContact(CameraPtr _camera,
                                   const math::Vector2i &_mousePos,
                                   math::Vector3 &_position);

      public: void PrintSceneGraph();

      public: void SetVisible(const std::string &_name, bool _visible);

      public: void DrawLine(const math::Vector3 &_start,
                            const math::Vector3 &_end,
                            const std::string &_name);

      public: void SetFog(const std::string &_type,
                           const common::Color &_color,
                           double _density, double _start, double _end);

      public: uint32_t GetId() const;

      public: std::string GetIdString() const;

      public: void SetShadowsEnabled(bool _value);

      public: bool GetShadowsEnabled() const;

      public: void AddVisual(VisualPtr _vis);

      public: void RemoveVisual(VisualPtr _vis);

      public: void SetGrid(bool _enabled);

      public: VisualPtr GetWorldVisual() const;

      public: std::string StripSceneName(const std::string &_name) const;

      public: Heightmap *GetHeightmap() const;

      public: void Clear();

      public: VisualPtr CloneVisual(const std::string &_visualName,
                  const std::string &_newName) GAZEBO_DEPRECATED(2.0);

      public: VisualPtr GetSelectedVisual() const;

      public: void SetWireframe(bool _show);

      public: void SetTransparent(bool _show);

      public: void ShowCOMs(bool _show);

      public: void ShowJoints(bool _show);

      public: void ShowCollisions(bool _show);

      public: void ShowContacts(bool _show);

      public: void ShowClouds(bool _show);

      public: bool GetShowClouds() const;


      public: void SetSkyXMode(unsigned int _mode);

      public: bool GetInitialized() const;

      public: common::Time GetSimTime() const;

      public: uint32_t GetVisualCount() const;

      public: void RemoveProjectors();

      private: void SetSky();

      private: void InitDeferredShading();

      private: Ogre::Entity *GetOgreEntityAt(CameraPtr _camera,
                                             const math::Vector2i &_mousePos,
                                             bool _ignorSelectionObj);

      // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
      private: void GetMeshInformation(const Ogre::Mesh *_mesh,
                                       size_t &_vertexCount,
                                       Ogre::Vector3* &_vertices,
                                       size_t &_indexCount,
                                       uint64_t* &_indices,
                                       const Ogre::Vector3 &_position,
                                       const Ogre::Quaternion &_orient,
                                       const Ogre::Vector3 &_scale);

      private: void PrintSceneGraphHelper(const std::string &_prefix,
                                          Ogre::Node *_node);

      private: void OnScene(ConstScenePtr &_msg);

      private: void OnResponse(ConstResponsePtr &_msg);

      private: void OnRequest(ConstRequestPtr &_msg);

      private: void OnJointMsg(ConstJointPtr &_msg);

      private: bool ProcessSensorMsg(ConstSensorPtr &_msg);

      private: bool ProcessJointMsg(ConstJointPtr &_msg);

      private: bool ProcessLinkMsg(ConstLinkPtr &_msg);

      private: bool ProcessSceneMsg(ConstScenePtr &_msg);

      private: bool ProcessModelMsg(const msgs::Model &_msg);

      private: void OnSensorMsg(ConstSensorPtr &_msg);

      private: void OnVisualMsg(ConstVisualPtr &_msg);

      private: bool ProcessVisualMsg(ConstVisualPtr &_msg);

      private: void OnLightMsg(ConstLightPtr &_msg);

      private: bool ProcessLightMsg(ConstLightPtr &_msg);

      private: void ProcessRequestMsg(ConstRequestPtr &_msg);

      private: void OnSelectionMsg(ConstSelectionPtr &_msg);

      private: void OnSkyMsg(ConstSkyPtr &_msg);

      private: void OnModelMsg(ConstModelPtr &_msg);

      private: void OnPoseMsg(ConstPosesStampedPtr &_msg);

      private: void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);

      private: void CreateCOMVisual(ConstLinkPtr &_msg, VisualPtr _linkVisual);

      private: void CreateCOMVisual(sdf::ElementPtr _elem,
                                    VisualPtr _linkVisual);

      private: std::string name;

      private: sdf::ElementPtr sdf;

      private: std::vector<CameraPtr> cameras;

      private: std::vector<UserCameraPtr> userCameras;

      private: Ogre::SceneManager *manager;

      private: Ogre::RaySceneQuery *raySceneQuery;

      private: std::vector<Grid *> grids;

      private: static uint32_t idCounter;

      private: uint32_t id;

      private: std::string idString;

      typedef std::list<boost::shared_ptr<msgs::Visual const> > VisualMsgs_L;

      private: VisualMsgs_L visualMsgs;

      typedef std::list<boost::shared_ptr<msgs::Light const> > LightMsgs_L;

      private: LightMsgs_L lightMsgs;

      typedef std::map<uint32_t, msgs::Pose> PoseMsgs_M;

      private: PoseMsgs_M poseMsgs;

      typedef std::list<boost::shared_ptr<msgs::Scene const> > SceneMsgs_L;

      private: SceneMsgs_L sceneMsgs;

      typedef std::list<boost::shared_ptr<msgs::Joint const> > JointMsgs_L;

      private: JointMsgs_L jointMsgs;

      typedef std::list<boost::shared_ptr<msgs::Link const> > LinkMsgs_L;

      private: LinkMsgs_L linkMsgs;

      typedef std::list<boost::shared_ptr<msgs::Model const> > ModelMsgs_L;
      private: ModelMsgs_L modelMsgs;

      typedef std::list<boost::shared_ptr<msgs::Sensor const> > SensorMsgs_L;

      private: SensorMsgs_L sensorMsgs;

      typedef std::list<boost::shared_ptr<msgs::Request const> > RequestMsgs_L;
      private: RequestMsgs_L requestMsgs;

      typedef std::map<uint32_t, VisualPtr> Visual_M;

      private: Visual_M visuals;

      typedef std::map<std::string, LightPtr> Light_M;

      private: Light_M lights;

      typedef std::list<boost::shared_ptr<msgs::PoseAnimation const> >
                                                          SkeletonPoseMsgs_L;
      private: SkeletonPoseMsgs_L skeletonPoseMsgs;

      private: boost::shared_ptr<msgs::Selection const> selectionMsg;

      private: boost::mutex *receiveMutex;

      private: boost::recursive_mutex poseMsgMutex;

      private: transport::NodePtr node;

      private: transport::SubscriberPtr sensorSub;

      private: transport::SubscriberPtr sceneSub;

      private: transport::SubscriberPtr requestSub;

      private: transport::SubscriberPtr visSub;

      private: transport::SubscriberPtr lightSub;

      private: transport::SubscriberPtr poseSub;

      private: transport::SubscriberPtr jointSub;

      private: transport::SubscriberPtr selectionSub;

      private: transport::SubscriberPtr responseSub;

      private: transport::SubscriberPtr skeletonPoseSub;

      private: transport::SubscriberPtr skySub;

      private: transport::SubscriberPtr modelInfoSub;

      private: transport::PublisherPtr lightPub;

      private: transport::PublisherPtr responsePub;

      private: transport::PublisherPtr requestPub;

      private: std::vector<event::ConnectionPtr> connections;

      private: VisualPtr worldVisual;

      private: VisualPtr selectedVis;

      private: std::string selectionMode;

      private: msgs::Request *requestMsg;

      private: bool enableVisualizations;

      private: Heightmap *terrain;

      private: std::map<std::string, Projector *> projectors;

      public: SkyX::SkyX *skyx;

      private: SkyX::BasicController *skyxController;

      private: bool showCOMs;

      private: bool showCollisions;

      private: bool showJoints;

      private: bool transparent;

      private: bool wireframe;

      private: bool initialized;

      private: common::Time sceneSimTimePosesReceived;

      private: common::Time sceneSimTimePosesApplied;

      private: uint32_t contactVisId;

      typedef boost::unordered_map<std::string,
          boost::shared_ptr<msgs::Joint const> > JointMsgs_M;

      private: JointMsgs_M joints;
    };
  }
}
#endif