Projector.hh

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/*
 * Copyright (C) 2012 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_PROJECTOR_HH_
#define GAZEBO_RENDERING_PROJECTOR_HH_

#include <string>
#include <map>
#include <list>

#include <ignition/math/Pose3.hh>
#include <sdf/sdf.hh>
#include <ignition/transport/Node.hh>

#include "gazebo/rendering/ogre_gazebo.h"

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/transport.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {

    class GZ_RENDERING_VISIBLE Projector
    {
      public: explicit Projector(VisualPtr _parent);

      public: virtual ~Projector();

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

      public: void Load(const msgs::Projector &_msg);

      public: void Load(const std::string &_name,
                  const ignition::math::Pose3d &_pose =
                  ignition::math::Pose3d::Zero,
                  const std::string &_textureName = "",
                  const double _nearClip = 0.25,
                  const double _farClip = 15.0,
                  const double _fov = IGN_PI * 0.25);

#ifndef _WIN32
  #pragma GCC diagnostic push
  #pragma GCC diagnostic ignored "-Wdeprecated-declarations"
#endif
      public: void Load(const std::string &_name,
                        const math::Pose &_pose = math::Pose(0, 0, 0, 0, 0, 0),
                        const std::string &_textureName = "",
                        double _nearClip = 0.25,
                        double _farClip = 15.0,
                        double _fov = IGN_PI * 0.25) GAZEBO_DEPRECATED(8.0);
#ifndef _WIN32
  #pragma GCC diagnostic pop
#endif

      public: void SetTexture(const std::string &_textureName);

      public: void Toggle();

      public: VisualPtr GetParent();

      public: void SetEnabled(bool _enabled);

      private: void OnMsg(ConstProjectorPtr &_msg);

      private: VisualPtr visual;
      private: transport::NodePtr node;
      private: transport::SubscriberPtr controlSub;

      private: class ProjectorFrameListener : public Ogre::FrameListener
      {
        public: ProjectorFrameListener();

        public: virtual ~ProjectorFrameListener();

        public: void Init(VisualPtr _visual,
                          const std::string &_textureName,
                          double _near = 0.5,
                          double _far = 10,
                          double _fov = 0.785398163);

        public: virtual bool frameStarted(const Ogre::FrameEvent &_evt);

        public: void SetTexture(const std::string &_textureName);

        public: void SetEnabled(bool _enabled);
        public: void SetUsingShaders(bool _usingShaders);

        public: void SetPose(const math::Pose &_pose) GAZEBO_DEPRECATED(8.0);

        public: void SetPose(const ignition::math::Pose3d &_pose);

        private: void SetSceneNode();

        private: void SetFrustumClipDistance(double _near, double _far);
        private: void SetFrustumFOV(double _fov);
        private: void AddPassToAllMaterials();
        private: void AddPassToVisibleMaterials();
        private: void AddPassToMaterials(std::list<std::string> &_matList);
        private: void AddPassToMaterial(const std::string &_matName);
        private: void RemovePassFromMaterials();
        private: void RemovePassFromMaterial(const std::string &_matName);

        public: bool enabled;
        public:  bool initialized;
        private: bool usingShaders;

        private: std::string nodeName;
        private: std::string filterNodeName;

        private: std::string textureName;

        private: Ogre::Frustum *frustum;
        private: Ogre::Frustum *filterFrustum;
        private: Ogre::PlaneBoundedVolumeListSceneQuery *projectorQuery;

        private: VisualPtr visual;

        private: Ogre::SceneNode *node;
        private: Ogre::SceneNode *filterNode;
        private: Ogre::SceneManager *sceneMgr;
        private: std::map<std::string, Ogre::Pass*> projectorTargets;
      };

      private: ProjectorFrameListener projector;

      // Place ignition::transport objects at the end of this file to
      // guarantee they are destructed first.

      private: ignition::transport::Node nodeIgn;
    };
  }
}
#endif