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Scene.hh
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1 /*
2  * Copyright 2011 Nate Koenig
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
7  *
8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
12  * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13  * See the License for the specific language governing permissions and
14  * limitations under the License.
15  *
16 */
17 #ifndef _SCENE_HH_
18 #define _SCENE_HH_
19 
20 #include <vector>
21 #include <map>
22 #include <string>
23 #include <list>
24 #include <boost/enable_shared_from_this.hpp>
25 #include <boost/shared_ptr.hpp>
26 
27 #include "sdf/sdf.hh"
28 #include "msgs/msgs.hh"
29 
30 #include "rendering/RenderTypes.hh"
31 
33 #include "common/Events.hh"
34 #include "common/Color.hh"
35 #include "math/Vector2i.hh"
36 
37 namespace SkyX
38 {
39  class SkyX;
40  class BasicController;
41 }
42 
43 namespace Ogre
44 {
45  class SceneManager;
46  class RaySceneQuery;
47  class Node;
48  class Entity;
49  class Mesh;
50  class Vector3;
51  class Quaternion;
52 }
53 
54 namespace boost
55 {
56  class mutex;
57 }
58 
59 namespace gazebo
60 {
61  namespace rendering
62  {
63  class Projector;
64  class Light;
65  class Visual;
66  class Grid;
67  class Heightmap;
68 
71 
76  class Scene : public boost::enable_shared_from_this<Scene>
77  {
79  private: Scene() {}
80 
86  public: Scene(const std::string &_name,
87  bool _enableVisualizations = false);
88 
90  public: virtual ~Scene();
91 
94  public: void Load(sdf::ElementPtr _scene);
95 
97  public: void Load();
98 
100  public: void Init();
101 
103  public: void PreRender();
104 
107  public: Ogre::SceneManager *GetManager() const;
108 
111  public: std::string GetName() const;
112 
115  public: void SetAmbientColor(const common::Color &_color);
116 
119  public: common::Color GetAmbientColor() const;
120 
123  public: void SetBackgroundColor(const common::Color &_color);
124 
127  public: common::Color GetBackgroundColor() const;
128 
134  public: void CreateGrid(uint32_t _cellCount, float _cellLength,
135  float _lineWidth, const common::Color &_color);
136 
140  public: Grid *GetGrid(uint32_t _index) const;
141 
144  public: uint32_t GetGridCount() const;
145 
151  public: CameraPtr CreateCamera(const std::string &_name,
152  bool _autoRender = true);
153 
159  public: DepthCameraPtr CreateDepthCamera(const std::string &_name,
160  bool _autoRender = true);
161 
167  public: GpuLaserPtr CreateGpuLaser(const std::string &_name,
168  bool _autoRender = true);
169 
172  public: uint32_t GetCameraCount() const;
173 
178  public: CameraPtr GetCamera(uint32_t _index) const;
179 
183  public: CameraPtr GetCamera(const std::string &_name) const;
184 
190  public: UserCameraPtr CreateUserCamera(const std::string &_name);
191 
194  public: uint32_t GetUserCameraCount() const;
195 
201  public: UserCameraPtr GetUserCamera(uint32_t _index) const;
202 
206  public: LightPtr GetLight(const std::string &_name) const;
207 
210  public: uint32_t GetLightCount() const;
211 
216  public: LightPtr GetLight(uint32_t _index) const;
217 
219  public: VisualPtr GetVisual(const std::string &_name) const;
220 
224  public: void SelectVisual(const std::string &_name,
225  const std::string &_mode);
226 
233  public: VisualPtr GetVisualAt(CameraPtr _camera,
234  const math::Vector2i &_mousePos,
235  std::string &mod);
236 
239  public: void SnapVisualToNearestBelow(const std::string &_visualName);
240 
246  public: VisualPtr GetVisualAt(CameraPtr _camera,
247  const math::Vector2i &_mousePos);
248 
254  public: VisualPtr GetModelVisualAt(CameraPtr _camera,
255  const math::Vector2i &_mousePos);
256 
257 
261  public: VisualPtr GetVisualBelow(const std::string &_visualName);
262 
267  public: void GetVisualsBelowPoint(const math::Vector3 &_pt,
268  std::vector<VisualPtr> &_visuals);
269 
270 
275  public: math::Vector3 GetFirstContact(CameraPtr _camera,
276  const math::Vector2i &_mousePos);
277 
279  public: void PrintSceneGraph();
280 
285  public: void SetVisible(const std::string &_name, bool _visible);
286 
291  public: void DrawLine(const math::Vector3 &_start,
292  const math::Vector3 &_end,
293  const std::string &_name);
294 
302  public: void SetFog(const std::string &_type,
303  const common::Color &_color,
304  double _density, double _start, double _end);
305 
308  public: uint32_t GetId() const;
309 
312  public: std::string GetIdString() const;
313 
316  public: void SetShadowsEnabled(bool _value);
317 
320  public: bool GetShadowsEnabled() const;
321 
324  public: void AddVisual(VisualPtr _vis);
325 
328  public: void RemoveVisual(VisualPtr _vis);
329 
332  public: void SetGrid(bool _enabled);
333 
336  public: VisualPtr GetWorldVisual() const;
337 
341  public: std::string StripSceneName(const std::string &_name) const;
342 
345  public: Heightmap *GetHeightmap() const;
346 
348  public: void Clear();
349 
354  public: VisualPtr CloneVisual(const std::string &_visualName,
355  const std::string &_newName);
356 
360  public: VisualPtr GetSelectedVisual() const;
361 
363  private: void SetSky();
364 
366  private: void InitDeferredShading();
367 
374  private: Ogre::Entity *GetOgreEntityAt(CameraPtr _camera,
375  const math::Vector2i &_mousePos,
376  bool _ignorSelectionObj);
377 
378  // \brief Get the mesh information for the given mesh.
379  // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
380  private: void GetMeshInformation(const Ogre::Mesh *mesh,
381  size_t &vertex_count,
382  Ogre::Vector3* &vertices,
383  size_t &index_count,
384  uint64_t* &indices,
385  const Ogre::Vector3 &position,
386  const Ogre::Quaternion &orient,
387  const Ogre::Vector3 &scale);
388 
392  private: void PrintSceneGraphHelper(const std::string &_prefix,
393  Ogre::Node *_node);
394 
398  private: void OnScene(ConstScenePtr &_msg);
399 
402  private: void OnResponse(ConstResponsePtr &_msg);
403 
406  private: void OnRequest(ConstRequestPtr &_msg);
407 
410  private: void OnJointMsg(ConstJointPtr &_msg);
411 
414  private: bool ProcessSensorMsg(ConstSensorPtr &_msg);
415 
418  private: bool ProcessJointMsg(ConstJointPtr &_msg);
419 
422  private: bool ProcessLinkMsg(ConstLinkPtr &_msg);
423 
426  private: void ProcessSceneMsg(ConstScenePtr &_msg);
427 
430  private: bool ProcessModelMsg(const msgs::Model &_msg);
431 
434  private: void OnSensorMsg(ConstSensorPtr &_msg);
435 
438  private: void OnVisualMsg(ConstVisualPtr &_msg);
439 
442  private: bool ProcessVisualMsg(ConstVisualPtr &_msg);
443 
446  private: void OnLightMsg(ConstLightPtr &_msg);
447 
450  private: void ProcessLightMsg(ConstLightPtr &_msg);
451 
454  private: void ProcessRequestMsg(ConstRequestPtr &_msg);
455 
458  private: void OnSelectionMsg(ConstSelectionPtr &_msg);
459 
462  private: void OnSkyMsg(ConstSkyPtr &_msg);
463 
466  private: void OnModelMsg(ConstModelPtr &_msg);
467 
470  private: void OnPoseMsg(ConstPosePtr &_msg);
471 
474  private: void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);
475 
479  private: void CreateCOMVisual(ConstLinkPtr &_msg, VisualPtr _linkVisual);
480 
484  private: void CreateCOMVisual(sdf::ElementPtr _elem,
485  VisualPtr _linkVisual);
486 
488  private: std::string name;
489 
491  private: sdf::ElementPtr sdf;
492 
494  private: std::vector<CameraPtr> cameras;
495 
497  private: std::vector<UserCameraPtr> userCameras;
498 
500  private: Ogre::SceneManager *manager;
501 
503  private: Ogre::RaySceneQuery *raySceneQuery;
504 
506  private: std::vector<Grid *> grids;
507 
509  private: static uint32_t idCounter;
510 
512  private: uint32_t id;
513 
515  private: std::string idString;
516 
519  typedef std::list<boost::shared_ptr<msgs::Visual const> > VisualMsgs_L;
520 
522  private: VisualMsgs_L visualMsgs;
523 
526  typedef std::list<boost::shared_ptr<msgs::Light const> > LightMsgs_L;
527 
529  private: LightMsgs_L lightMsgs;
530 
533  typedef std::list<boost::shared_ptr<msgs::Pose const> > PoseMsgs_L;
534 
536  private: PoseMsgs_L poseMsgs;
537 
540  typedef std::list<boost::shared_ptr<msgs::Scene const> > SceneMsgs_L;
541 
543  private: SceneMsgs_L sceneMsgs;
544 
547  typedef std::list<boost::shared_ptr<msgs::Joint const> > JointMsgs_L;
548 
550  private: JointMsgs_L jointMsgs;
551 
554  typedef std::list<boost::shared_ptr<msgs::Link const> > LinkMsgs_L;
555 
557  private: LinkMsgs_L linkMsgs;
558 
561  typedef std::list<boost::shared_ptr<msgs::Model const> > ModelMsgs_L;
563  private: ModelMsgs_L modelMsgs;
564 
567  typedef std::list<boost::shared_ptr<msgs::Sensor const> > SensorMsgs_L;
568 
570  private: SensorMsgs_L sensorMsgs;
571 
574  typedef std::list<boost::shared_ptr<msgs::Request const> > RequestMsgs_L;
576  private: RequestMsgs_L requestMsgs;
577 
580  typedef std::map<std::string, VisualPtr> Visual_M;
581 
583  private: Visual_M visuals;
584 
587  typedef std::map<std::string, LightPtr> Light_M;
588 
590  private: Light_M lights;
591 
594  typedef std::list<boost::shared_ptr<msgs::PoseAnimation const> >
595  SkeletonPoseMsgs_L;
597  private: SkeletonPoseMsgs_L skeletonPoseMsgs;
598 
600  private: boost::shared_ptr<msgs::Selection const> selectionMsg;
601 
603  private: boost::mutex *receiveMutex;
604 
606  private: transport::NodePtr node;
607 
609  private: transport::SubscriberPtr sensorSub;
610 
612  private: transport::SubscriberPtr sceneSub;
613 
615  private: transport::SubscriberPtr requestSub;
616 
618  private: transport::SubscriberPtr visSub;
619 
621  private: transport::SubscriberPtr lightSub;
622 
624  private: transport::SubscriberPtr poseSub;
625 
627  private: transport::SubscriberPtr jointSub;
628 
630  private: transport::SubscriberPtr selectionSub;
631 
633  private: transport::SubscriberPtr responseSub;
634 
636  private: transport::SubscriberPtr skeletonPoseSub;
637 
639  private: transport::SubscriberPtr skySub;
640 
642  private: transport::SubscriberPtr modelInfoSub;
643 
645  private: transport::PublisherPtr lightPub;
646 
648  private: transport::PublisherPtr responsePub;
649 
651  private: transport::PublisherPtr requestPub;
652 
654  private: std::vector<event::ConnectionPtr> connections;
655 
657  private: VisualPtr worldVisual;
658 
660  private: VisualPtr selectedVis;
661 
667  private: std::string selectionMode;
668 
670  private: msgs::Request *requestMsg;
671 
673  private: bool enableVisualizations;
674 
676  private: Heightmap *heightmap;
677 
679  private: std::map<std::string, Projector *> projectors;
680 
682  public: SkyX::SkyX *skyx;
683 
685  private: SkyX::BasicController *skyxController;
686  };
688  }
689 }
690 #endif