Representation of an entire scene graph. More...

#include <rendering/rendering.hh>

Inherits enable_shared_from_this< 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...

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

void	EnableVisualizations (const bool _enable)
	Enable visualizations, currently only applies to sensor visuals. More...

bool	EnableVisualizations () const
	Check whether visualizations are enabled or not. 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...

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...

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

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

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...

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...

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

bool	HasLayer (const int32_t _layer) const
	Return true if the layer exits. More...

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

unsigned int	HeightmapLOD () const
	Get the Level Of Detail (LOD) value for the heightmap. 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...

bool	LayerState (const int32_t _layer) const
	Return whether a layer is on or off. 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...

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	SetHeightmapLOD (const unsigned int _value)
	Set the Level Of Detail (LOD) value for the heightmap. More...

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

bool	SetShadowTextureSize (const unsigned int _size)
	Set the shadow texture size. 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...

unsigned int	ShadowTextureSize () const
	Get the shadow texture size. 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...

void	ShowSkeleton (const bool _show)
	Enable or disable skeleton visualization. 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...

bool	Wireframe () const
	Get whether wireframe is enabled for all visuals. More...

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

Detailed Description

Representation of an entire scene graph.

Visualization Markers

Visualization markers are shapes and meshes that have no kinematic or dynamic properties. Their primary use is to visually augment the rendering scene.

See gazebo/examples/stand_alone/marker for an example program that manipulates visualization markers.

The gz marker command line tool can also be used to manipulate visualization markers. For more information use:

$ gz marker -h

Visualization marker services

The following Ignition Transport services can be use to create, modify, delete, and list visualization markers.

/marker
- Request message type: ign_msgs.Marker
- Response mssage type: ign_msgs.StringMsg
- Purpose: Add, modify, or delete a visualization marker.

/marker/list
- Response mssage type: ign_msgs.Marker_V
- Purpose: Get the list of markers.

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

Member Enumeration Documentation

enum SkyXMode

Enumerator
GZ_SKYX_ALL
GZ_SKYX_CLOUDS
GZ_SKYX_MOON
GZ_SKYX_NONE

Constructor & Destructor Documentation

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 ~Scene ( )

virtual

Destructor.

Member Function Documentation

void AddLight ( LightPtr _light )

Add a light to the scene.

Parameters

[in] _light Light to add.

void AddVisual ( VisualPtr _vis )

Add a visual to the scene.

Parameters

[in] _vis Visual to add.

common::Color AmbientColor ( ) const

Get the ambient color.

Returns: The scene's ambient color.

common::Color BackgroundColor ( ) const

Get the background color.

Returns: The background color.

uint32_t CameraCount ( ) const

Get the number of cameras in this scene.

Returns: Number of cameras.

void Clear ( )

Clear rendering::Scene.

CameraPtr 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 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 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 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.

UserCameraPtr 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 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 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.

void EnableVisualizations ( const bool _enable )

Enable visualizations, currently only applies to sensor visuals.

Parameters

[in] _enable True to enable, false to disable.

See Also: EnableVisualizations()

bool EnableVisualizations ( ) const

Check whether visualizations are enabled or not.

Returns: True if enabled.

See Also: EnableVisualizations(bool)

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.

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.

CameraPtr 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 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.

Grid* 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.

Heightmap* GetHeightmap ( ) const

Get a pointer to the heightmap.

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

LightPtr 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 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.

SkyX::SkyX* GetSkyX ( ) const

Get the sky in the scene.

Returns: Pointer to the sky.

UserCameraPtr 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.

VisualPtr 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 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.

uint32_t GridCount ( ) const

Get the number of grids.

Returns: The number of grids.

bool HasLayer ( const int32_t _layer ) const

Return true if the layer exits.

Parameters

[in] _layer Index of the layer to check for existance.

Returns: True if the layer exists, otherwise false. All negative value of _layer return true.

double 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.

unsigned int HeightmapLOD ( ) const

Get the Level Of Detail (LOD) value for the heightmap.

Returns: A render-engine specific value that is used to compute LOD.

See Also: Heightmap::LOD

uint32_t Id ( ) const

Get the scene ID.

Returns: The ID of the scene.

std::string IdString ( ) const

Get the scene Id as a string.

Returns: The ID as a string.

void Init ( )

Init rendering::Scene.

bool Initialized ( ) const

Return true if the Scene has been initialized.

Returns: True if the scene has been initialized.

bool LayerState ( const int32_t _layer ) const

Return whether a layer is on or off.

A negative layer is always active.

Parameters

[in] _layer Index of the layer to check.

Returns: True if the layer is active, false otherwise. True is also returned if _layer is negative.

uint32_t LightCount ( ) const

Get the count of the lights.

Returns: The number of lights.

void Load ( sdf::ElementPtr _scene )

Load the scene from a set of parameters.

Parameters

[in] _scene SDF scene element to load.

void Load ( )

Load the scene with default parameters.

VisualPtr 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 Name ( ) const

Get the name of the scene.

Returns: Name of the scene.

Ogre::SceneManager* OgreSceneManager ( ) const

Get the OGRE scene manager.

Returns: Pointer to the Ogre SceneManager.

void PreRender ( )

Process all received messages.

void PrintSceneGraph ( )

Print the scene graph to std_out.

void RemoveCamera ( const std::string & _name )

Remove a camera from the scene.

Parameters

[in] _name Name of the camera.

void RemoveLight ( LightPtr _light )

Remove a light to the scene.

Parameters

[in] _light Light to Remove.

void RemoveProjectors ( )

Remove all projectors.

void RemoveVisual ( VisualPtr _vis )

Remove a visual from the scene.

Parameters

[in] _vis Visual to remove.

void RemoveVisual ( const uint32_t _id )

Remove a visual from the scene.

Parameters

[in] _id Id of the visual to remove.

VisualPtr SelectedVisual ( ) const

Get the currently selected visual.

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

void 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 SetAmbientColor ( const common::Color & _color )

Set the ambient color.

Parameters

[in] _color The ambient color to use.

void SetBackgroundColor ( const common::Color & _color )

Set the background color.

Parameters

[in] _color The background color.

void 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 SetGrid ( const bool _enabled )

Set the grid on or off.

Parameters

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

void SetHeightmapLOD ( const unsigned int _value )

Set the Level Of Detail (LOD) value for the heightmap.

Parameters

[in] _value A render-engine specific value used to compute LOD.

See Also: Heightmap::SetLOD

void SetShadowsEnabled ( const bool _value )

Set whether shadows are on or off.

Parameters

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

bool SetShadowTextureSize ( const unsigned int _size )

Set the shadow texture size.

Parameters

[in] _size Size to set the shadow texture to. This must be a power of 2. The default size is 1024.

Returns: True if size is set successfully, false otherwise.

void 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 SetTransparent ( const bool _show )

Enable or disable transparency for all visuals.

Parameters

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

void 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 SetVisualId	(	VisualPtr	_vis,
		const uint32_t	_id
	)

void SetWireframe ( const bool _show )

Enable or disable wireframe for all visuals.

Parameters

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

bool ShadowsEnabled ( ) const

Get whether shadows are on or off.

Returns: True if shadows are enabled.

unsigned int ShadowTextureSize ( ) const

Get the shadow texture size.

Returns: Size of the shadow texture. The default size is 1024.

void ShowClouds ( const bool _show )

Display clouds in the sky.

Parameters

[in] _show True to display clouds.

bool ShowClouds ( ) const

Get whether or not clouds are displayed.

Returns: True if clouds are displayed.

void ShowCollisions ( const bool _show )

Enable or disable collision visualization.

Parameters

[in] _show True to enable collision visualization.

void ShowCOMs ( const bool _show )

Enable or disable center of mass visualization.

Parameters

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

void ShowContacts ( const bool _show )

Enable or disable contact visualization.

Parameters

[in] _show True to enable contact visualization.

void ShowInertias ( const bool _show )

Enable or disable inertia visualization.

Parameters

[in] _show True to enable inertia visualization.

void ShowJoints ( const bool _show )

Enable or disable joint visualization.

Parameters

[in] _show True to enable joint visualization.

void ShowLinkFrames ( const bool _show )

Enable or disable link frame visualization.

Parameters

[in] _show True to enable link frame visualization.

void ShowOrigin ( const bool _show )

Show/hide the world origin indicator.

Parameters

[in] _show True to show the origin.

void ShowSkeleton ( const bool _show )

Enable or disable skeleton visualization.

Parameters

[in] _show True to enable skeleton visualization.

common::Time 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 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 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 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 UserCameraCount ( ) const

Get the number of user cameras in this scene.

Returns: The number of user cameras.

VisualPtr 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 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 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 VisualCount ( ) const

Get the number of visuals.

Returns: The number of visuals in the Scene.

void 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.

bool Wireframe ( ) const

Get whether wireframe is enabled for all visuals.

Returns: True if wireframe is enabled for all visuals.

VisualPtr 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

Visualization Markers

Visualization marker services

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation