Scene.hh

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/*
 * Copyright (C) 2015-2016 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 _GAZEBO_RENDERING_SCENE_HH_
#define _GAZEBO_RENDERING_SCENE_HH_

#include <memory>
#include <string>
#include <vector>

#include <boost/enable_shared_from_this.hpp>
#include <boost/shared_ptr.hpp>

#include <sdf/sdf.hh>

#include <ignition/math/Vector2.hh>
#include <ignition/math/Vector3.hh>

#include "gazebo/common/Events.hh"
#include "gazebo/common/Color.hh"
#include "gazebo/gazebo_config.h"
#include "gazebo/math/Vector2i.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/rendering/Visual.hh"
#include "gazebo/transport/TransportTypes.hh"
#include "gazebo/util/system.hh"

namespace SkyX
{
  class SkyX;
}

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

namespace gazebo
{
  namespace rendering
  {
    class Visual;
    class Grid;
    class Heightmap;
    class ScenePrivate;


    class GZ_RENDERING_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,
                    const bool _enableVisualizations = false,
                    const 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 GAZEBO_DEPRECATED(7.0);

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

      public: std::string GetName() const GAZEBO_DEPRECATED(7.0);

      public: std::string Name() const;

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

      public: common::Color GetAmbientColor() const GAZEBO_DEPRECATED(7.0);

      public: common::Color AmbientColor() const;

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

      public: common::Color GetBackgroundColor() const GAZEBO_DEPRECATED(7.0);

      public: common::Color BackgroundColor() const;

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

      public: Grid *GetGrid(uint32_t _index) const;

      public: uint32_t GetGridCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t GridCount() const;

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

      public: WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name,
          const bool _autoRender = true);

#ifdef HAVE_OCULUS
      public: OculusCameraPtr CreateOculusCamera(const std::string &_name);

      public: uint32_t GetOculusCameraCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t OculusCameraCount() const;
#endif

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

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

      public: uint32_t GetCameraCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t CameraCount() const;

      public: CameraPtr GetCamera(const uint32_t _index) const;

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

      public: UserCameraPtr CreateUserCamera(const std::string &_name,
                  const bool _stereoEnabled = false);

      public: uint32_t GetUserCameraCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t UserCameraCount() const;

      public: UserCameraPtr GetUserCamera(const uint32_t _index) const;

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

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

      public: uint32_t GetLightCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t LightCount() const;

      public: LightPtr GetLight(const uint32_t _index) const;

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

      public: VisualPtr GetVisual(const 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) GAZEBO_DEPRECATED(7.0);

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

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

      public: VisualPtr GetVisualAt(CameraPtr _camera,
          const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0);

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

      public: VisualPtr GetModelVisualAt(CameraPtr _camera,
          const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0);

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

      public: VisualPtr GetVisualBelow(const std::string &_visualName)
          GAZEBO_DEPRECATED(7.0);

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

      public: void GetVisualsBelowPoint(const math::Vector3 &_pt,
          std::vector<VisualPtr> &_visuals) GAZEBO_DEPRECATED(7.0);

      public: void VisualsBelowPoint(const ignition::math::Vector3d &_pt,
                                     std::vector<VisualPtr> &_visuals);


      public: double GetHeightBelowPoint(const math::Vector3 &_pt)
          GAZEBO_DEPRECATED(7.0);

      public: double HeightBelowPoint(const ignition::math::Vector3d &_pt);

      public: bool GetFirstContact(CameraPtr _camera,
          const math::Vector2i &_mousePos,
          math::Vector3 &_position) GAZEBO_DEPRECATED(7.0);

      public: bool FirstContact(CameraPtr _camera,
                                const ignition::math::Vector2i &_mousePos,
                                ignition::math::Vector3d &_position);

      public: void PrintSceneGraph();

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

      public: void DrawLine(const math::Vector3 &_start,
                            const math::Vector3 &_end,
                            const std::string &_name) GAZEBO_DEPRECATED(7.0);

      public: void DrawLine(const ignition::math::Vector3d &_start,
                            const ignition::math::Vector3d &_end,
                            const std::string &_name);

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

      public: uint32_t GetId() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t Id() const;

      public: std::string GetIdString() const GAZEBO_DEPRECATED(7.0);

      public: std::string IdString() const;

      public: void SetShadowsEnabled(const bool _value);

      public: bool GetShadowsEnabled() const GAZEBO_DEPRECATED(7.0);

      public: bool ShadowsEnabled() const;

      public: void AddVisual(VisualPtr _vis);

      public: void RemoveVisual(VisualPtr _vis);

      public: void RemoveVisual(const uint32_t _id);

      public: void SetVisualId(VisualPtr _vis, const uint32_t _id);

      public: void AddLight(LightPtr _light);

      public: void RemoveLight(LightPtr _light);

      public: void SetGrid(const bool _enabled);

      public: void ShowOrigin(const bool _show);

      public: VisualPtr GetWorldVisual() const GAZEBO_DEPRECATED(7.0);

      public: VisualPtr WorldVisual() const;

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

      public: Heightmap *GetHeightmap() const;

      public: void Clear();

      public: VisualPtr GetSelectedVisual() const GAZEBO_DEPRECATED(7.0);

      public: VisualPtr SelectedVisual() const;

      public: void SetWireframe(const bool _show);

      public: void SetTransparent(const bool _show);

      public: void ShowCOMs(const bool _show);

      public: void ShowInertias(const bool _show);

      public: void ShowLinkFrames(const bool _show);

      public: void ShowSkeleton(const bool _show);

      public: void ShowJoints(const bool _show);

      public: void ShowCollisions(const bool _show);

      public: void ShowContacts(const bool _show);

      public: void ShowClouds(const bool _show);

      public: bool GetShowClouds() const GAZEBO_DEPRECATED(7.0);

      public: bool ShowClouds() const;

      public: void SetSkyXMode(const unsigned int _mode);

      public: SkyX::SkyX *GetSkyX() const;

      public: bool GetInitialized() const GAZEBO_DEPRECATED(7.0);

      public: bool Initialized() const;

      public: common::Time GetSimTime() const GAZEBO_DEPRECATED(7.0);

      public: common::Time SimTime() const;

      public: uint32_t GetVisualCount() const GAZEBO_DEPRECATED(7.0);

      public: uint32_t VisualCount() const;

      public: void RemoveProjectors();

      public: void ToggleLayer(const int32_t _layer);

      private: void SetSky();

      private: void InitDeferredShading();

      private: Ogre::Entity *OgreEntityAt(CameraPtr _camera,
          const ignition::math::Vector2i &_mousePos,
          const bool _ignoreSelectionObj);

      // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
      private: void MeshInformation(const Ogre::Mesh *_mesh,
                                    size_t &_vertexCount,
                                    Ogre::Vector3* &_vertices,
                                    size_t &_indexCount,
                                    uint64_t* &_indices,
                                    const ignition::math::Vector3d &_position,
                                    const ignition::math::Quaterniond &_orient,
                                    const ignition::math::Vector3d &_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,
          Visual::VisualType _type = Visual::VT_ENTITY);

      private: void OnLightFactoryMsg(ConstLightPtr &_msg);

      private: void OnLightModifyMsg(ConstLightPtr &_msg);

      private: bool ProcessLightFactoryMsg(ConstLightPtr &_msg);

      private: bool ProcessLightModifyMsg(ConstLightPtr &_msg);

      private: void ProcessRequestMsg(ConstRequestPtr &_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: void CreateInertiaVisual(ConstLinkPtr &_msg,
          VisualPtr _linkVisual);

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

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

      private: void RemoveVisualizations(VisualPtr _vis);

      private: std::unique_ptr<ScenePrivate> dataPtr;
    };
  }
}
#endif