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, const bool _enableVisualizations=false, const 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...

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

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

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

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

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

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

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

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

OculusCameraPtr	CreateOculusCamera (const std::string &_name)
	Create an oculus rift camera. More...

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

WideAngleCameraPtr	CreateWideAngleCamera (const std::string &_name, const bool _autoRender=true)
	Create a wide-angle camera. More...

void	DrawLine (const math::Vector3 &_start, const math::Vector3 &_end, const std::string &_name) GAZEBO_DEPRECATED(7.0)
	Draw a named line. More...

void	DrawLine (const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end, const std::string &_name)
	Draw a named line. More...

bool	FirstContact (CameraPtr _camera, const ignition::math::Vector2i &_mousePos, ignition::math::Vector3d &_position)
	Get the world pos of a the first contact at a pixel location. More...

common::Color	GetAmbientColor () const GAZEBO_DEPRECATED(7.0)
	Get the ambient color. More...

common::Color	GetBackgroundColor () const GAZEBO_DEPRECATED(7.0)
	Get the background color. More...

CameraPtr	GetCamera (const 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 GAZEBO_DEPRECATED(7.0)
	Get the number of cameras in this scene. More...

bool	GetFirstContact (CameraPtr _camera, const math::Vector2i &_mousePos, math::Vector3 &_position) GAZEBO_DEPRECATED(7.0)
	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 GAZEBO_DEPRECATED(7.0)
	Get the number of grids. More...

double	GetHeightBelowPoint (const math::Vector3 &_pt) GAZEBO_DEPRECATED(7.0)
	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 GAZEBO_DEPRECATED(7.0)
	Get the scene ID. More...

std::string	GetIdString () const GAZEBO_DEPRECATED(7.0)
	Get the scene Id as a string. More...

bool	GetInitialized () const GAZEBO_DEPRECATED(7.0)
	Return true if the Scene has been initialized. More...

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

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

uint32_t	GetLightCount () const GAZEBO_DEPRECATED(7.0)
	Get the count of the lights. More...

Ogre::SceneManager *	GetManager () const GAZEBO_DEPRECATED(7.0)
	Get the OGRE scene manager. More...

VisualPtr	GetModelVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0)
	Get a model's visual at a mouse position. More...

std::string	GetName () const GAZEBO_DEPRECATED(7.0)
	Get the name of the scene. More...

uint32_t	GetOculusCameraCount () const GAZEBO_DEPRECATED(7.0)
	Get the number of cameras in this scene. More...

VisualPtr	GetSelectedVisual () const GAZEBO_DEPRECATED(7.0)
	Get the currently selected visual. More...

bool	GetShadowsEnabled () const GAZEBO_DEPRECATED(7.0)
	Get whether shadows are on or off. More...

bool	GetShowClouds () const GAZEBO_DEPRECATED(7.0)
	Get whether or not clouds are displayed. More...

common::Time	GetSimTime () const GAZEBO_DEPRECATED(7.0)
	Get the scene simulation time. More...

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

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

uint32_t	GetUserCameraCount () const GAZEBO_DEPRECATED(7.0)
	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 (const uint32_t _id) const
	Get a visual by id. More...

VisualPtr	GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos, std::string &_mod) GAZEBO_DEPRECATED(7.0)
	Get an entity at a pixel location using a camera. More...

VisualPtr	GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0)
	Get a visual at a mouse position. More...

VisualPtr	GetVisualBelow (const std::string &_visualName) GAZEBO_DEPRECATED(7.0)
	Get the closest visual below a given visual. More...

uint32_t	GetVisualCount () const GAZEBO_DEPRECATED(7.0)
	Get the number of visuals. More...

void	GetVisualsBelowPoint (const math::Vector3 &_pt, std::vector< VisualPtr > &_visuals) GAZEBO_DEPRECATED(7.0)
	Get a visual directly below a point. More...

VisualPtr	GetWorldVisual () const GAZEBO_DEPRECATED(7.0)
	Get the top level world visual. More...

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

double	HeightBelowPoint (const ignition::math::Vector3d &_pt)
	Get the Z-value of the first object below the given point. More...

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

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

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

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

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

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

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

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

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

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

Ogre::SceneManager *	OgreSceneManager () const
	Get the OGRE scene manager. 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 (const uint32_t _id)
	Remove a visual from the scene. More...

VisualPtr	SelectedVisual () const
	Get the currently selected visual. 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, const double _density, const double _start, const double _end)
	Set the fog parameters. More...

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

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

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

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

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

void	SetVisualId (VisualPtr _vis, const uint32_t _id)

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

void	VisualsBelowPoint (const ignition::math::Vector3d &_pt, std::vector< VisualPtr > &_visuals)
	Get a visual directly below a point. More...

VisualPtr	WorldVisual () const
	Get the top level world visual. 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,
		const bool	_enableVisualizations = `false`,
		const 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.

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

Get the ambient color.

Returns: The scene's ambient color.

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

Get the background color.

Returns: The background color.

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

Get the number of cameras in this scene.

Returns: Number of cameras.

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

Clear rendering::Scene.

CameraPtr gazebo::rendering::Scene::CreateCamera	(	const std::string &	_name,
		const 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,
		const 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,
		const 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	(	const uint32_t	_cellCount,
		const float	_cellLength,
		const 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.

OculusCameraPtr gazebo::rendering::Scene::CreateOculusCamera ( const std::string & _name )

Create an oculus rift camera.

Parameters

[in] _name Name of the new camera.

Returns: Pointer to the new camera.

UserCameraPtr gazebo::rendering::Scene::CreateUserCamera	(	const std::string &	_name,
		const 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.

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

Create a wide-angle 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.

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.

Deprecated:: See function that accepts ignition::math parameters.

void gazebo::rendering::Scene::DrawLine	(	const ignition::math::Vector3d &	_start,
		const ignition::math::Vector3d &	_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.

bool gazebo::rendering::Scene::FirstContact	(	CameraPtr	_camera,
		const ignition::math::Vector2i &	_mousePos,
		ignition::math::Vector3d &	_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.

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

Get the ambient color.

Returns: The scene's ambient color.

Deprecated:: See AmbientColor()

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

Get the background color.

Returns: The background color.

Deprecated:: See BackgroundColor()

CameraPtr gazebo::rendering::Scene::GetCamera ( const 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.

Deprecated:: See CameraCount()

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.

Deprecated:: See FirstContact()

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.

Deprecated:: See GridCount()

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.

Deprecated:: See HeightBelowPoint()

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.

Deprecated:: See Id()

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

Get the scene Id as a string.

Returns: The ID as a string.

Deprecated:: See IdString()

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

Return true if the Scene has been initialized.

Returns: True if the scene has been initialized.

Deprecated:: See 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 ( const 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.

Deprecated:: See LightCount()

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

Get the OGRE scene manager.

Returns: Pointer to the Ogre SceneManager.

Deprecated:: See OgreSceneManager()

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.

Deprecated:: See ModelVisualAt()

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

Get the name of the scene.

Returns: Name of the scene.

Deprecated:: See Name()

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

Get the number of cameras in this scene.

Returns: Number of cameras.

Deprecated:: See OculusCameraCount()

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

Get the currently selected visual.

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

Deprecated:: See SelectedVisual()

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

Get whether shadows are on or off.

Returns: True if shadows are enabled.

Deprecated:: See ShadowsEnabled()

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

Get whether or not clouds are displayed.

Returns: True if clouds are displayed.

Deprecated:: See ShowClouds()

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

Deprecated:: See SimTime()

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

Get the sky in the scene.

Returns: Pointer to the sky.

UserCameraPtr gazebo::rendering::Scene::GetUserCamera ( const 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.

Deprecated:: See UserCameraCount()

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 ( const 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

Deprecated:: See VisualAt()

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.

Deprecated:: See VisualAt()

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.

Deprecated:: See VisualBelow()

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

Get the number of visuals.

Returns: The number of visuals in the Scene.

Deprecated:: See VisualCount()

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.

Deprecated:: See VisualsBelowPoint()

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

Get the top level world visual.

Returns: Pointer to the world visual.

Deprecated:: See WorldVisual()

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

Get the number of grids.

Returns: The number of grids.

double gazebo::rendering::Scene::HeightBelowPoint ( const ignition::math::Vector3d & _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.

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

Get the scene ID.

Returns: The ID of the scene.

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

Get the scene Id as a string.

Returns: The ID as a string.

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

Init rendering::Scene.

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

Return true if the Scene has been initialized.

Returns: True if the scene has been initialized.

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

Get the count of the lights.

Returns: The number of lights.

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.

VisualPtr gazebo::rendering::Scene::ModelVisualAt	(	CameraPtr	_camera,
		const ignition::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::Name ( ) const

Get the name of the scene.

Returns: Name of the scene.

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

Get the number of cameras in this scene.

Returns: Number of cameras.

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

Get the OGRE scene manager.

Returns: Pointer to the Ogre SceneManager.

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 ( const uint32_t _id )

Remove a visual from the scene.

Parameters

[in] _id Id of the visual to remove.

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

Get the currently selected visual.

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

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,
		const double	_density,
		const double	_start,
		const 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 ( const bool _enabled )

Set the grid on or off.

Parameters

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

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

Set whether shadows are on or off.

Parameters

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

void gazebo::rendering::Scene::SetSkyXMode ( const 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 ( const 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,
		const 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,
		const uint32_t	_id
	)

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

Enable or disable wireframe for all visuals.

Parameters

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

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

Get whether shadows are on or off.

Returns: True if shadows are enabled.

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

Display clouds in the sky.

Parameters

[in] _show True to display clouds.

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

Get whether or not clouds are displayed.

Returns: True if clouds are displayed.

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

Enable or disable collision visualization.

Parameters

[in] _show True to enable collision visualization.

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

Enable or disable center of mass visualization.

Parameters

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

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

Enable or disable contact visualization.

Parameters

[in] _show True to enable contact visualization.

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

Enable or disable inertia visualization.

Parameters

[in] _show True to enable inertia visualization.

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

Enable or disable joint visualization.

Parameters

[in] _show True to enable joint visualization.

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

Enable or disable link frame visualization.

Parameters

[in] _show True to enable link frame visualization.

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

Show/hide the world origin indicator.

Parameters

[in] _show True to show the origin.

common::Time gazebo::rendering::Scene::SimTime ( ) 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

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.

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

Get the number of user cameras in this scene.

Returns: The number of user cameras.

VisualPtr gazebo::rendering::Scene::VisualAt	(	CameraPtr	_camera,
		const ignition::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::VisualAt	(	CameraPtr	_camera,
		const ignition::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::VisualBelow ( 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::VisualCount ( ) const

Get the number of visuals.

Returns: The number of visuals in the Scene.

void gazebo::rendering::Scene::VisualsBelowPoint	(	const ignition::math::Vector3d &	_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::WorldVisual ( ) const

Get the top level world visual.

Returns: Pointer to the world visual.

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