RenderEngine.hh

Go to the documentation of this file.

/*
 * 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.
 *
*/
/* Desc: Middleman between OGRE and Gazebo
 * Author: Nate Koenig
 * Date: 13 Feb 2006
 */

#ifndef _RENDERENGINE_HH_
#define _RENDERENGINE_HH_

#include <vector>
#include <string>

#include "gazebo/msgs/msgs.hh"
#include "gazebo/common/SingletonT.hh"
#include "gazebo/common/Event.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace Ogre
{
  class Root;
  class LogManager;
  class OverlaySystem;
}

namespace gazebo
{
  namespace rendering
  {

    class GAZEBO_VISIBLE RenderEngine : public SingletonT<RenderEngine>
    {
      public: enum RenderPathType
              {
                NONE = 0,
                VERTEX = 1,
                FORWARD = 2,
                DEFERRED = 3,
                RENDER_PATH_COUNT
              };

      private: RenderEngine();

      private: virtual ~RenderEngine();

      public: void Load();

      public: void Init();

      public: void Fini();

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

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

      public: ScenePtr GetScene(const std::string &_name="");

      public: ScenePtr GetScene(unsigned int _index);

      public: unsigned int GetSceneCount() const;

      public: void AddResourcePath(const std::string &_uri);

      public: RenderPathType GetRenderPathType() const;

      public: WindowManagerPtr GetWindowManager() const;

#if OGRE_VERSION_MAJOR > 1 || OGRE_VERSION_MINOR >= 9
      public: Ogre::OverlaySystem *GetOverlaySystem() const;
#endif

      private: bool CreateContext();

      private: void LoadPlugins();

      private: void SetupResources();

      private: void SetupRenderSystem();

      private: void PreRender();

      private: void Render();

      private: void PostRender();

      private: void CheckSystemCapabilities();

      public: Ogre::Root *root;

      private: std::vector< ScenePtr > scenes;

      private: Ogre::LogManager *logManager;

      protected: uint64_t dummyWindowId;

      protected: void *dummyDisplay;

      protected: void* dummyContext;

      private: bool headless;

      private: bool initialized;

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

      private: transport::NodePtr node;

      private: RenderPathType renderPathType;

      private: WindowManagerPtr windowManager;

#if OGRE_VERSION_MAJOR > 1 || OGRE_VERSION_MINOR >= 9
      private: Ogre::OverlaySystem *overlaySystem;
#endif

      private: friend class SingletonT<RenderEngine>;
    };
  }
}
#endif