Representation of an entire scene graph. More...

#include <rendering/rendering.hh>

Inheritance diagram for gazebo::rendering::Scene:

Public Types
enum	SkyXMode { GZ_SKYX_ALL = 0x0FFFFFFF, GZ_SKYX_CLOUDS = 0x0000001, GZ_SKYX_MOON = 0x0000002, GZ_SKYX_NONE = 0 }

Public Member Functions
	Scene (const std::string &_name, bool _enableVisualizations=false, bool _isServer=false)
	Constructor. More...

virtual	~Scene ()
	Destructor. More...

void	AddLight (LightPtr _light)
	Add a light to the scene. More...

void	AddVisual (VisualPtr _vis)
	Add a visual to the scene. More...

void	Clear ()
	Clear rendering::Scene. More...

CameraPtr	CreateCamera (const std::string &_name, bool _autoRender=true)
	Create a camera. More...

DepthCameraPtr	CreateDepthCamera (const std::string &_name, bool _autoRender=true)
	Create depth camera. More...

GpuLaserPtr	CreateGpuLaser (const std::string &_name, bool _autoRender=true)
	Create laser that generates data from rendering. More...

void	CreateGrid (uint32_t _cellCount, float _cellLength, float _lineWidth, const common::Color &_color)
	Create a square grid of cells. More...

UserCameraPtr	CreateUserCamera (const std::string &_name, bool _stereoEnabled=false)
	Create a user camera. More...

void	DrawLine (const math::Vector3 &_start, const math::Vector3 &_end, const std::string &_name)
	Draw a named line. More...

common::Color	GetAmbientColor () const
	Get the ambient color. More...

common::Color	GetBackgroundColor () const
	Get the background color. More...

CameraPtr	GetCamera (uint32_t _index) const
	Get a camera based on an index. More...

CameraPtr	GetCamera (const std::string &_name) const
	Get a camera by name. More...

uint32_t	GetCameraCount () const
	Get the number of cameras in this scene. More...

bool	GetFirstContact (CameraPtr _camera, const math::Vector2i &_mousePos, math::Vector3 &_position)
	Get the world pos of a the first contact at a pixel location. More...

Grid *	GetGrid (uint32_t _index) const
	Get a grid based on an index. More...

uint32_t	GetGridCount () const
	Get the number of grids. More...

double	GetHeightBelowPoint (const math::Vector3 &_pt)
	Get the Z-value of the first object below the given point. More...

Heightmap *	GetHeightmap () const
	Get a pointer to the heightmap. More...

uint32_t	GetId () const
	Get the scene ID. More...

std::string	GetIdString () const
	Get the scene Id as a string. More...

bool	GetInitialized () const
	Return true if the Scene has been initialized. More...

LightPtr	GetLight (const std::string &_name) const
	Get a light by name. More...

LightPtr	GetLight (uint32_t _index) const
	Get a light based on an index. More...

uint32_t	GetLightCount () const
	Get the count of the lights. More...

Ogre::SceneManager *	GetManager () const
	Get the OGRE scene manager. More...

VisualPtr	GetModelVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos)
	Get a model's visual at a mouse position. More...

std::string	GetName () const
	Get the name of the scene. More...

VisualPtr	GetSelectedVisual () const
	Get the currently selected visual. More...

bool	GetShadowsEnabled () const
	Get whether shadows are on or off. More...

bool	GetShowClouds () const
	Get whether or not clouds are displayed. More...

common::Time	GetSimTime () const
	Get the scene simulation time. More...

SkyX::SkyX *	GetSkyX () const
	Get the sky in the scene. More...

UserCameraPtr	GetUserCamera (uint32_t _index) const
	Get a user camera by index. More...

uint32_t	GetUserCameraCount () const
	Get the number of user cameras in this scene. More...

VisualPtr	GetVisual (const std::string &_name) const
	Get a visual by name. More...

VisualPtr	GetVisual (uint32_t _id) const
	Get a visual by id. More...

VisualPtr	GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos, std::string &_mod)
	Get an entity at a pixel location using a camera. More...

VisualPtr	GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos)
	Get a visual at a mouse position. More...

VisualPtr	GetVisualBelow (const std::string &_visualName)
	Get the closest visual below a given visual. More...

uint32_t	GetVisualCount () const
	Get the number of visuals. More...

void	GetVisualsBelowPoint (const math::Vector3 &_pt, std::vector< VisualPtr > &_visuals)
	Get a visual directly below a point. More...

VisualPtr	GetWorldVisual () const
	Get the top level world visual. More...

void	Init ()
	Init rendering::Scene. More...

void	Load (sdf::ElementPtr _scene)
	Load the scene from a set of parameters. More...

void	Load ()
	Load the scene with default parameters. More...

void	PreRender ()
	Process all received messages. More...

void	PrintSceneGraph ()
	Print the scene graph to std_out. More...

void	RemoveCamera (const std::string &_name)
	Remove a camera from the scene. More...

void	RemoveLight (LightPtr _light)
	Remove a light to the scene. More...

void	RemoveProjectors ()
	Remove all projectors. More...

void	RemoveVisual (VisualPtr _vis)
	Remove a visual from the scene. More...

void	RemoveVisual (uint32_t _id)
	Remove a visual from the scene. More...

void	SelectVisual (const std::string &_name, const std::string &_mode)
	Select a visual by name. More...

void	SetAmbientColor (const common::Color &_color)
	Set the ambient color. More...

void	SetBackgroundColor (const common::Color &_color)
	Set the background color. More...

void	SetFog (const std::string &_type, const common::Color &_color, double _density, double _start, double _end)
	Set the fog parameters. More...

void	SetGrid (bool _enabled)
	Set the grid on or off. More...

void	SetShadowsEnabled (bool _value)
	Set whether shadows are on or off. More...

void	SetSkyXMode (unsigned int _mode)
	Set SkyX mode to enable/disable skyx components such as clouds and moon. More...

void	SetTransparent (bool _show)
	Enable or disable transparency for all visuals. More...

void	SetVisible (const std::string &_name, bool _visible)
	Hide or show a visual. More...

void	SetVisualId (VisualPtr _vis, uint32_t _id)

void	SetWireframe (bool _show)
	Enable or disable wireframe for all visuals. More...

void	ShowClouds (bool _show)
	Display clouds in the sky. More...

void	ShowCollisions (bool _show)
	Enable or disable collision visualization. More...

void	ShowCOMs (bool _show)
	Enable or disable center of mass visualization. More...

void	ShowContacts (bool _show)
	Enable or disable contact visualization. More...

void	ShowInertias (bool _show)
	Enable or disable inertia visualization. More...

void	ShowJoints (bool _show)
	Enable or disable joint visualization. More...

void	ShowLinkFrames (bool _show)
	Enable or disable link frame visualization. More...

void	ShowOrigin (bool _show)
	Show/hide the world origin indicator. More...

void	SnapVisualToNearestBelow (const std::string &_visualName)
	Move the visual to be ontop of the nearest visual below it. More...

std::string	StripSceneName (const std::string &_name) const
	Remove the name of scene from a string. More...

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

Detailed Description

Representation of an entire scene graph.

Maintains all the Visuals, Lights, and Cameras for a World.

Member Enumeration Documentation

enum gazebo::rendering::Scene::SkyXMode

Enumerator
GZ_SKYX_ALL
GZ_SKYX_CLOUDS
GZ_SKYX_MOON
GZ_SKYX_NONE

Constructor & Destructor Documentation

gazebo::rendering::Scene::Scene	(	const std::string &	_name,
		bool	_enableVisualizations = `false`,
		bool	_isServer = `false`
	)

Constructor.

Parameters

[in]	_name	Name of the scene.
[in]	_enableVisualizations	True to enable visualizations, this should be set to true for user interfaces, and false for sensor generation.

virtual gazebo::rendering::Scene::~Scene ( )

virtual

Destructor.

Member Function Documentation

void gazebo::rendering::Scene::AddLight ( LightPtr _light )

Add a light to the scene.

Parameters

[in] _light Light to add.

void gazebo::rendering::Scene::AddVisual ( VisualPtr _vis )

Add a visual to the scene.

Parameters

[in] _vis Visual to add.

void gazebo::rendering::Scene::Clear ( )

Clear rendering::Scene.

CameraPtr gazebo::rendering::Scene::CreateCamera	(	const std::string &	_name,
		bool	_autoRender = `true`
	)

Create a camera.

Parameters

[in]	_name	Name of the new camera.
[in]	_autoRender	True to allow Gazebo to automatically render the camera. This should almost always be true.

Returns: Pointer to the new camera.

DepthCameraPtr gazebo::rendering::Scene::CreateDepthCamera	(	const std::string &	_name,
		bool	_autoRender = `true`
	)

Create depth camera.

Parameters

[in]	_name	Name of the new camera.
[in]	_autoRender	True to allow Gazebo to automatically render the camera. This should almost always be true.

Returns: Pointer to the new camera.

GpuLaserPtr gazebo::rendering::Scene::CreateGpuLaser	(	const std::string &	_name,
		bool	_autoRender = `true`
	)

Create laser that generates data from rendering.

Parameters

[in]	_name	Name of the new laser.
[in]	_autoRender	True to allow Gazebo to automatically render the camera. This should almost always be true.

Returns: Pointer to the new laser.

void gazebo::rendering::Scene::CreateGrid	(	uint32_t	_cellCount,
		float	_cellLength,
		float	_lineWidth,
		const common::Color &	_color
	)

Create a square grid of cells.

Parameters

[in]	_cellCount	Number of grid cells in one direction.
[in]	_cellLength	Length of one grid cell.
[in]	_lineWidth	Width of the grid lines.
[in]	_color	Color of the grid lines.

UserCameraPtr gazebo::rendering::Scene::CreateUserCamera	(	const std::string &	_name,
		bool	_stereoEnabled = `false`
	)

Create a user camera.

A user camera is one design for use with a GUI.

Parameters

[in]	_name	Name of the UserCamera.
[in]	_stereoEnabled	True to enable stereo rendering. This is here for compatibility with 3D monitors/TVs.

Returns: A pointer to the new UserCamera.

void gazebo::rendering::Scene::DrawLine	(	const math::Vector3 &	_start,
		const math::Vector3 &	_end,
		const std::string &	_name
	)

Draw a named line.

Parameters

[in]	_start	Start position of the line.
[in]	_end	End position of the line.
[in]	_name	Name of the line.

common::Color gazebo::rendering::Scene::GetAmbientColor ( ) const

Get the ambient color.

Returns: The scene's ambient color.

common::Color gazebo::rendering::Scene::GetBackgroundColor ( ) const

Get the background color.

Returns: The background color.

CameraPtr gazebo::rendering::Scene::GetCamera ( uint32_t _index ) const

Get a camera based on an index.

Index must be between 0 and Scene::GetCameraCount.

Parameters

[in] _index Index of the camera to get.

Returns: Pointer to the camera. Or NULL if the index is invalid.

CameraPtr gazebo::rendering::Scene::GetCamera ( const std::string & _name ) const

Get a camera by name.

Parameters

[in] _name Name of the camera.

Returns: Pointer to the camera. Or NULL if the name is invalid.

uint32_t gazebo::rendering::Scene::GetCameraCount ( ) const

Get the number of cameras in this scene.

Returns: Number of cameras.

bool gazebo::rendering::Scene::GetFirstContact	(	CameraPtr	_camera,
		const math::Vector2i &	_mousePos,
		math::Vector3 &	_position
	)

Get the world pos of a the first contact at a pixel location.

Parameters

[in]	_camera	Pointer to the camera.
[in]	_mousePos	2D position of the mouse in pixels.
[out]	_position	3D position of the first contact point.

Returns: True if a valid object was hit by the raycast.

Grid* gazebo::rendering::Scene::GetGrid ( uint32_t _index ) const

Get a grid based on an index.

Index must be between 0 and Scene::GetGridCount.

Parameters

[in] _index Index of the grid.

uint32_t gazebo::rendering::Scene::GetGridCount ( ) const

Get the number of grids.

Returns: The number of grids.

double gazebo::rendering::Scene::GetHeightBelowPoint ( const math::Vector3 & _pt )

Get the Z-value of the first object below the given point.

Parameters

[in] _pt Position to search below for a visual.

Returns: The Z-value of the nearest visual below the point. Zero is returned if no visual is found.

Heightmap* gazebo::rendering::Scene::GetHeightmap ( ) const

Get a pointer to the heightmap.

Returns: Pointer to the heightmap, NULL if no heightmap.

uint32_t gazebo::rendering::Scene::GetId ( ) const

Get the scene ID.

Returns: The ID of the scene.

std::string gazebo::rendering::Scene::GetIdString ( ) const

Get the scene Id as a string.

Returns: The ID as a string.

bool gazebo::rendering::Scene::GetInitialized ( ) const

Return true if the Scene has been initialized.

LightPtr gazebo::rendering::Scene::GetLight ( const std::string & _name ) const

Get a light by name.

Parameters

[in] _name Name of the light to get.

Returns: Pointer to the light, or NULL if the light was not found.

LightPtr gazebo::rendering::Scene::GetLight ( uint32_t _index ) const

Get a light based on an index.

The index must be between 0 and Scene::GetLightCount.

Parameters

[in] _index Index of the light.

Returns: Pointer to the Light or NULL if index was invalid.

uint32_t gazebo::rendering::Scene::GetLightCount ( ) const

Get the count of the lights.

Returns: The number of lights.

Ogre::SceneManager* gazebo::rendering::Scene::GetManager ( ) const

Get the OGRE scene manager.

Returns: Pointer to the Ogre SceneManager.

VisualPtr gazebo::rendering::Scene::GetModelVisualAt	(	CameraPtr	_camera,
		const math::Vector2i &	_mousePos
	)

Get a model's visual at a mouse position.

Parameters

[in]	_camera	Pointer to the camera used to project the mouse position.
[in]	_mousePos	The 2d position of the mouse in pixels.

Returns: Pointer to the visual, NULL if none found.

std::string gazebo::rendering::Scene::GetName ( ) const

Get the name of the scene.

Returns: Name of the scene.

VisualPtr gazebo::rendering::Scene::GetSelectedVisual ( ) const

Get the currently selected visual.

Returns: Pointer to the currently selected visual, or NULL if nothing is selected.

bool gazebo::rendering::Scene::GetShadowsEnabled ( ) const

Get whether shadows are on or off.

Returns: True if shadows are enabled.

bool gazebo::rendering::Scene::GetShowClouds ( ) const

Get whether or not clouds are displayed.

Returns: True if clouds are displayed.

common::Time gazebo::rendering::Scene::GetSimTime ( ) const

Get the scene simulation time.

Note this is different from World::GetSimTime() because there is a lag between the time new poses are sent out by World and when they are received and applied by the Scene.

Returns: The current simulation time in Scene

SkyX::SkyX* gazebo::rendering::Scene::GetSkyX ( ) const

Get the sky in the scene.

Returns: Pointer to the sky.

UserCameraPtr gazebo::rendering::Scene::GetUserCamera ( uint32_t _index ) const

Get a user camera by index.

The index value must be between 0 and Scene::GetUserCameraCount.

Parameters

[in] _index Index of the UserCamera to get.

Returns: Pointer to the UserCamera, or NULL if the index was invalid.

uint32_t gazebo::rendering::Scene::GetUserCameraCount ( ) const

Get the number of user cameras in this scene.

Returns: The number of user cameras.

VisualPtr gazebo::rendering::Scene::GetVisual ( const std::string & _name ) const

Get a visual by name.

Parameters

[in] _name Name of the visual to retrieve.

Returns: Pointer to the visual, NULL if not found.

VisualPtr gazebo::rendering::Scene::GetVisual ( uint32_t _id ) const

Get a visual by id.

Parameters

[in] _id ID of the visual to retrieve.

Returns: Pointer to the visual, NULL if not found.

VisualPtr gazebo::rendering::Scene::GetVisualAt	(	CameraPtr	_camera,
		const math::Vector2i &	_mousePos,
		std::string &	_mod
	)

Get an entity at a pixel location using a camera.

Used for mouse picking.

Parameters

[in]	_camera	The ogre camera, used to do mouse picking
[in]	_mousePos	The position of the mouse in screen coordinates
[out]	_mod	Used for object manipulation

Returns: The selected entity, or NULL

VisualPtr gazebo::rendering::Scene::GetVisualAt	(	CameraPtr	_camera,
		const math::Vector2i &	_mousePos
	)

Get a visual at a mouse position.

Parameters

[in]	_camera	Pointer to the camera used to project the mouse position.
[in]	_mousePos	The 2d position of the mouse in pixels.

Returns: Pointer to the visual, NULL if none found.

VisualPtr gazebo::rendering::Scene::GetVisualBelow ( const std::string & _visualName )

Get the closest visual below a given visual.

Parameters

[in] _visualName Name of the visual to search below.

Returns: Pointer to the visual below, or NULL if no visual.

uint32_t gazebo::rendering::Scene::GetVisualCount ( ) const

Get the number of visuals.

Returns: The number of visuals in the Scene.

void gazebo::rendering::Scene::GetVisualsBelowPoint	(	const math::Vector3 &	_pt,
		std::vector< VisualPtr > &	_visuals
	)

Get a visual directly below a point.

Parameters

[in]	_pt	3D point to get the visual below.
[out]	_visuals	The visuals below the point order in proximity.

VisualPtr gazebo::rendering::Scene::GetWorldVisual ( ) const

Get the top level world visual.

Returns: Pointer to the world visual.

void gazebo::rendering::Scene::Init ( )

Init rendering::Scene.

void gazebo::rendering::Scene::Load ( sdf::ElementPtr _scene )

Load the scene from a set of parameters.

Parameters

[in] _scene SDF scene element to load.

void gazebo::rendering::Scene::Load ( )

Load the scene with default parameters.

void gazebo::rendering::Scene::PreRender ( )

Process all received messages.

void gazebo::rendering::Scene::PrintSceneGraph ( )

Print the scene graph to std_out.

void gazebo::rendering::Scene::RemoveCamera ( const std::string & _name )

Remove a camera from the scene.

Parameters

[in] _name Name of the camera.

void gazebo::rendering::Scene::RemoveLight ( LightPtr _light )

Remove a light to the scene.

Parameters

[in] _light Light to Remove.

void gazebo::rendering::Scene::RemoveProjectors ( )

Remove all projectors.

void gazebo::rendering::Scene::RemoveVisual ( VisualPtr _vis )

Remove a visual from the scene.

Parameters

[in] _vis Visual to remove.

void gazebo::rendering::Scene::RemoveVisual ( uint32_t _id )

Remove a visual from the scene.

Parameters

[in] _id Id of the visual to remove.

void gazebo::rendering::Scene::SelectVisual	(	const std::string &	_name,
		const std::string &	_mode
	)

Select a visual by name.

Parameters

[in]	_name	Name of the visual to select.
[in]	_mode	Selection mode (normal, or move).

void gazebo::rendering::Scene::SetAmbientColor ( const common::Color & _color )

Set the ambient color.

Parameters

[in] _color The ambient color to use.

void gazebo::rendering::Scene::SetBackgroundColor ( const common::Color & _color )

Set the background color.

Parameters

[in] _color The background color.

void gazebo::rendering::Scene::SetFog	(	const std::string &	_type,
		const common::Color &	_color,
		double	_density,
		double	_start,
		double	_end
	)

Set the fog parameters.

Parameters

[in]	_type	Type of fog: "linear", "exp", or "exp2".
[in]	_color	Color of the fog.
[in]	_density	Fog density.
[in]	_start	Distance from camera to start the fog.
[in]	_end	Distance from camera at which the fog is at max density.

void gazebo::rendering::Scene::SetGrid ( bool _enabled )

Set the grid on or off.

Parameters

[in] _enabled Set to true to turn on the grid

void gazebo::rendering::Scene::SetShadowsEnabled ( bool _value )

Set whether shadows are on or off.

Parameters

[in] _value True to enable shadows, False to disable

void gazebo::rendering::Scene::SetSkyXMode ( unsigned int _mode )

Set SkyX mode to enable/disable skyx components such as clouds and moon.

Parameters

[in] _mode SkyX mode bitmask.

See Also: Scene::SkyXMode

void gazebo::rendering::Scene::SetTransparent ( bool _show )

Enable or disable transparency for all visuals.

Parameters

[in] _show True to enable transparency for all visuals.

void gazebo::rendering::Scene::SetVisible	(	const std::string &	_name,
		bool	_visible
	)

Hide or show a visual.

Parameters

[in]	_name	Name of the visual to change.
[in]	_visible	True to make visual visible, False to make it invisible.

void gazebo::rendering::Scene::SetVisualId	(	VisualPtr	_vis,
		uint32_t	_id
	)

void gazebo::rendering::Scene::SetWireframe ( bool _show )

Enable or disable wireframe for all visuals.

Parameters

[in] _show True to enable wireframe for all visuals.

void gazebo::rendering::Scene::ShowClouds ( bool _show )

Display clouds in the sky.

Parameters

[in] _show True to display clouds.

void gazebo::rendering::Scene::ShowCollisions ( bool _show )

Enable or disable collision visualization.

Parameters

[in] _show True to enable collision visualization.

void gazebo::rendering::Scene::ShowCOMs ( bool _show )

Enable or disable center of mass visualization.

Parameters

[in] _show True to enable center of mass visualization.

void gazebo::rendering::Scene::ShowContacts ( bool _show )

Enable or disable contact visualization.

Parameters

[in] _show True to enable contact visualization.

void gazebo::rendering::Scene::ShowInertias ( bool _show )

Enable or disable inertia visualization.

Parameters

[in] _show True to enable inertia visualization.

void gazebo::rendering::Scene::ShowJoints ( bool _show )

Enable or disable joint visualization.

Parameters

[in] _show True to enable joint visualization.

void gazebo::rendering::Scene::ShowLinkFrames ( bool _show )

Enable or disable link frame visualization.

Parameters

[in] _show True to enable link frame visualization.

void gazebo::rendering::Scene::ShowOrigin ( bool _show )

Show/hide the world origin indicator.

Parameters

[in] _show True to show the origin.

void gazebo::rendering::Scene::SnapVisualToNearestBelow ( const std::string & _visualName )

Move the visual to be ontop of the nearest visual below it.

Parameters

[in] _visualName Name of the visual to move.

std::string gazebo::rendering::Scene::StripSceneName ( const std::string & _name ) const

Remove the name of scene from a string.

Parameters

[in] _name Name to string the scene name from.

Returns: The stripped name.

void gazebo::rendering::Scene::ToggleLayer ( const int32_t _layer )

Toggle layer visilibility.

This will process all visuals. If a visual is on the specified layer its visiblity will be toggled. Visuals with a negative layer index are always visible.

Parameters

[in] _layer Index of the layer to toggle.

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

Scene.hh

Public Types

Public Member Functions

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation