Scene.hh
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1/*
2 * Copyright (C) 2015 Open Source Robotics Foundation
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
18#ifndef GAZEBO_RENDERING_SCENE_HH_
19#define GAZEBO_RENDERING_SCENE_HH_
20
21#include <memory>
22#include <string>
23#include <vector>
24
25#include <boost/enable_shared_from_this.hpp>
26#include <boost/shared_ptr.hpp>
27
28#include <OGRE/OgrePrerequisites.h>
29
30#include <sdf/sdf.hh>
31
32#include <ignition/math/Color.hh>
33#include <ignition/math/Vector2.hh>
34#include <ignition/math/Vector3.hh>
35
37#include "gazebo/gazebo_config.h"
38#include "gazebo/msgs/msgs.hh"
42#include "gazebo/util/system.hh"
43
44namespace SkyX
45{
46 class SkyX;
47}
48
49namespace gazebo
50{
51 namespace rendering
52 {
53 class Visual;
54 class Grid;
55 class Heightmap;
56 class ScenePrivate;
57
60
92 class GZ_RENDERING_VISIBLE Scene :
93 public boost::enable_shared_from_this<Scene>
94 {
95 public: enum SkyXMode {
96 GZ_SKYX_ALL = 0x0FFFFFFF,
97 GZ_SKYX_CLOUDS = 0x0000001,
98 GZ_SKYX_MOON = 0x0000002,
99 GZ_SKYX_NONE = 0
100 };
101
103 private: Scene();
104
110 public: Scene(const std::string &_name,
111 const bool _enableVisualizations = false,
112 const bool _isServer = false);
113
115 public: virtual ~Scene();
116
119 public: void Load(sdf::ElementPtr _scene);
120
122 public: void Load();
123
125 public: void Init();
126
128 public: void PreRender();
129
132 public: Ogre::SceneManager *OgreSceneManager() const;
133
136 public: std::string Name() const;
137
140 public: void SetAmbientColor(const ignition::math::Color &_color);
141
144 public: ignition::math::Color AmbientColor() const;
145
148 public: void SetBackgroundColor(const ignition::math::Color &_color);
149
152 public: ignition::math::Color BackgroundColor() const;
153
158 public: void CreateGrid(const uint32_t _cellCount,
159 const float _cellLength, const ignition::math::Color &_color);
160
164 public: Grid *GetGrid(uint32_t _index) const;
165
168 public: uint32_t GridCount() const;
169
175 public: CameraPtr CreateCamera(const std::string &_name,
176 const bool _autoRender = true);
177
183 public: WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name,
184 const bool _autoRender = true);
185
186#ifdef HAVE_OCULUS
190 public: OculusCameraPtr CreateOculusCamera(const std::string &_name);
191
194 public: uint32_t OculusCameraCount() const;
195#endif
196
202 public: DepthCameraPtr CreateDepthCamera(const std::string &_name,
203 const bool _autoRender = true);
204
210 public: GpuLaserPtr CreateGpuLaser(const std::string &_name,
211 const bool _autoRender = true);
212
215 public: uint32_t CameraCount() const;
216
221 public: CameraPtr GetCamera(const uint32_t _index) const;
222
226 public: CameraPtr GetCamera(const std::string &_name) const;
227
235 public: UserCameraPtr CreateUserCamera(const std::string &_name,
236 const bool _stereoEnabled = false);
237
240 public: uint32_t UserCameraCount() const;
241
247 public: UserCameraPtr GetUserCamera(const uint32_t _index) const;
248
251 public: void RemoveCamera(const std::string &_name);
252
255 public: uint32_t LightCount() const;
256
261 public: LightPtr GetLight(const std::string &_name) const
263
269 public: LightPtr GetLight(const uint32_t _index) const
271
275 public: LightPtr LightByName(const std::string &_name) const;
276
281 public: LightPtr LightByIndex(const uint32_t _index) const;
282
286 public: LightPtr LightById(const uint32_t _id) const;
287
291 public: VisualPtr GetVisual(const std::string &_name) const;
292
296 public: VisualPtr GetVisual(const uint32_t _id) const;
297
301 public: void SelectVisual(const std::string &_name,
302 const std::string &_mode);
303
310 public: VisualPtr VisualAt(CameraPtr _camera,
311 const ignition::math::Vector2i &_mousePos,
312 std::string &_mod);
313
316 public: void SnapVisualToNearestBelow(const std::string &_visualName);
317
323 public: VisualPtr VisualAt(CameraPtr _camera,
324 const ignition::math::Vector2i &_mousePos);
325
332 const ignition::math::Vector2i &_mousePos);
333
337 public: VisualPtr VisualBelow(const std::string &_visualName);
338
343 public: void VisualsBelowPoint(const ignition::math::Vector3d &_pt,
344 std::vector<VisualPtr> &_visuals);
345
350 public: double HeightBelowPoint(const ignition::math::Vector3d &_pt);
351
357 public: bool FirstContact(CameraPtr _camera,
358 const ignition::math::Vector2i &_mousePos,
359 ignition::math::Vector3d &_position);
360
362 public: void PrintSceneGraph();
363
368 public: void SetVisible(const std::string &_name, const bool _visible);
369
374 public: void DrawLine(const ignition::math::Vector3d &_start,
375 const ignition::math::Vector3d &_end,
376 const std::string &_name);
377
385 public: void SetFog(const std::string &_type,
386 const ignition::math::Color &_color,
387 const double _density, const double _start,
388 const double _end);
389
392 public: uint32_t Id() const;
393
396 public: std::string IdString() const;
397
400 public: void SetShadowsEnabled(const bool _value);
401
404 public: bool ShadowsEnabled() const;
405
410 public: bool SetShadowTextureSize(const unsigned int _size);
411
414 public: unsigned int ShadowTextureSize() const;
415
418 public: void AddVisual(VisualPtr _vis);
419
422 public: void RemoveVisual(VisualPtr _vis);
423
426 public: void RemoveVisual(const uint32_t _id);
427
433 public: void SetVisualId(VisualPtr _vis, const uint32_t _id);
434
437 public: void AddLight(LightPtr _light);
438
441 public: void RemoveLight(LightPtr _light);
442
445 public: void SetGrid(const bool _enabled);
446
449 public: void ShowOrigin(const bool _show);
450
453 public: VisualPtr WorldVisual() const;
454
458 public: std::string StripSceneName(const std::string &_name) const;
459
462 public: Heightmap *GetHeightmap() const;
463
467 public: void SetHeightmapLOD(const unsigned int _value);
468
472 public: unsigned int HeightmapLOD() const;
473
477 public: void SetHeightmapSkirtLength(const double _value);
478
482 public: double HeightmapSkirtLength() const;
483
485 public: void Clear();
486
490 public: VisualPtr SelectedVisual() const;
491
494 public: void SetWireframe(const bool _show);
495
498 public: bool Wireframe() const;
499
502 public: void SetTransparent(const bool _show);
503
506 public: void ShowCOMs(const bool _show);
507
510 public: void ShowInertias(const bool _show);
511
514 public: void ShowLinkFrames(const bool _show);
515
518 public: void ShowSkeleton(const bool _show);
519
522 public: void ShowJoints(const bool _show);
523
526 public: void ShowCollisions(const bool _show);
527
530 public: void ShowContacts(const bool _show);
531
534 public: void ShowClouds(const bool _show);
535
538 public: bool ShowClouds() const;
539
544 public: void SetSkyXMode(const unsigned int _mode);
545
548 public: SkyX::SkyX *GetSkyX() const;
549
552 public: bool Initialized() const;
553
559 public: common::Time SimTime() const;
560
563 public: uint32_t VisualCount() const;
564
566 public: void RemoveProjectors();
567
572 public: void ToggleLayer(const int32_t _layer);
573
579 public: bool LayerState(const int32_t _layer) const;
580
585 public: bool HasLayer(const int32_t _layer) const;
586
591 public: void EnableVisualizations(const bool _enable);
592
596 public: bool EnableVisualizations() const;
597
599 private: void SetSky();
600
602 private: void InitDeferredShading();
603
610 private: Ogre::Entity *OgreEntityAt(CameraPtr _camera,
611 const ignition::math::Vector2i &_mousePos,
612 const bool _ignoreSelectionObj);
613
623 // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
624 private: void MeshInformation(const Ogre::Mesh *_mesh,
625 size_t &_vertexCount,
626 Ogre::Vector3* &_vertices,
627 size_t &_indexCount,
628 uint64_t* &_indices,
629 const ignition::math::Vector3d &_position,
630 const ignition::math::Quaterniond &_orient,
631 const ignition::math::Vector3d &_scale);
632
636 private: void PrintSceneGraphHelper(const std::string &_prefix,
637 Ogre::Node *_node);
638
642 private: void OnScene(ConstScenePtr &_msg);
643
646 private: void OnResponse(ConstResponsePtr &_msg);
647
650 private: void OnRequest(ConstRequestPtr &_msg);
651
654 private: void OnJointMsg(ConstJointPtr &_msg);
655
658 private: bool ProcessSensorMsg(ConstSensorPtr &_msg);
659
662 private: bool ProcessJointMsg(ConstJointPtr &_msg);
663
666 private: bool ProcessLinkMsg(ConstLinkPtr &_msg);
667
670 private: bool ProcessSceneMsg(ConstScenePtr &_msg);
671
674 private: bool ProcessModelMsg(const msgs::Model &_msg);
675
678 private: void OnSensorMsg(ConstSensorPtr &_msg);
679
682 private: void OnVisualMsg(ConstVisualPtr &_msg);
683
688 private: bool ProcessVisualMsg(ConstVisualPtr &_msg,
689 Visual::VisualType _type = Visual::VT_ENTITY);
690
693 private: void OnLightFactoryMsg(ConstLightPtr &_msg);
694
697 private: void OnLightModifyMsg(ConstLightPtr &_msg);
698
701 private: bool ProcessLightFactoryMsg(ConstLightPtr &_msg);
702
705 private: bool ProcessLightModifyMsg(ConstLightPtr &_msg);
706
709 private: void ProcessRequestMsg(ConstRequestPtr &_msg);
710
713 private: void OnSkyMsg(ConstSkyPtr &_msg);
714
717 private: void OnModelMsg(ConstModelPtr &_msg);
718
721 private: void OnPoseMsg(ConstPosesStampedPtr &_msg);
722
725 private: void OnSkeletonPoseMsg(ConstPoseAnimationPtr &_msg);
726
729 private: void OnRoadMsg(ConstRoadPtr &_msg);
730
734 private: void CreateCOMVisual(ConstLinkPtr &_msg, VisualPtr _linkVisual);
735
739 private: void CreateCOMVisual(sdf::ElementPtr _elem,
740 VisualPtr _linkVisual);
741
745 private: void CreateInertiaVisual(ConstLinkPtr &_msg,
746 VisualPtr _linkVisual);
747
751 private: void CreateInertiaVisual(sdf::ElementPtr _elem,
752 VisualPtr _linkVisual);
753
757 private: void CreateLinkFrameVisual(ConstLinkPtr &_msg,
758 VisualPtr _linkVisual);
759
763 private: void RemoveVisualizations(VisualPtr _vis);
764
767 private: std::unique_ptr<ScenePrivate> dataPtr;
768 };
770 }
771}
772#endif
rendering
Definition RenderEngine.hh:31
Forward declarations for transport.
A Time class, can be used to hold wall- or sim-time.
Definition Time.hh:48
Displays a grid of cells, drawn with lines.
Definition Grid.hh:54
Rendering a terrain using heightmap information.
Definition Heightmap.hh:63
Representation of an entire scene graph.
Definition Scene.hh:94
LightPtr GetLight(const std::string &_name) const GAZEBO_DEPRECATED(9.1)
Get a light by name.
uint32_t VisualCount() const
Get the number of visuals.
Heightmap * GetHeightmap() const
Get a pointer to the heightmap.
ignition::math::Color BackgroundColor() const
Get the background color.
LightPtr LightById(const uint32_t _id) const
Get a light by id.
void AddVisual(VisualPtr _vis)
Add a visual to the scene.
void Init()
Init rendering::Scene.
void AddLight(LightPtr _light)
Add a light to the scene.
VisualPtr ModelVisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos)
Get a model's visual at a mouse position.
uint32_t LightCount() const
Get the count of the lights.
void SetSkyXMode(const unsigned int _mode)
Set SkyX mode to enable/disable skyx components such as clouds and moon.
void ToggleLayer(const int32_t _layer)
Toggle layer visilibility.
VisualPtr VisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos, std::string &_mod)
Get an entity at a pixel location using a camera.
void EnableVisualizations(const bool _enable)
Enable visualizations, currently only applies to sensor visuals.
void CreateGrid(const uint32_t _cellCount, const float _cellLength, const ignition::math::Color &_color)
Create a square grid of cells.
unsigned int ShadowTextureSize() const
Get the shadow texture size.
double HeightmapSkirtLength() const
Get the skirt length value for the heightmap LOD tiles.
void SelectVisual(const std::string &_name, const std::string &_mode)
Select a visual by name.
void RemoveVisual(const uint32_t _id)
Remove a visual from the scene.
void ShowSkeleton(const bool _show)
Enable or disable skeleton visualization.
std::string Name() const
Get the name of the scene.
bool ShowClouds() const
Get whether or not clouds are displayed.
void ShowOrigin(const bool _show)
Show/hide the world origin indicator.
bool SetShadowTextureSize(const unsigned int _size)
Set the shadow texture size.
void ShowCOMs(const bool _show)
Enable or disable center of mass visualization.
VisualPtr SelectedVisual() const
Get the currently selected visual.
void SetHeightmapLOD(const unsigned int _value)
Set the Level Of Detail (LOD) value for the heightmap.
unsigned int HeightmapLOD() const
Get the Level Of Detail (LOD) value for the heightmap.
void ShowCollisions(const bool _show)
Enable or disable collision visualization.
void RemoveLight(LightPtr _light)
Remove a light to the scene.
LightPtr LightByName(const std::string &_name) const
Get a light by name.
void SetHeightmapSkirtLength(const double _value)
Set the skirt length value for the heightmap LOD tiles.
void Load(sdf::ElementPtr _scene)
Load the scene from a set of parameters.
void ShowContacts(const bool _show)
Enable or disable contact visualization.
uint32_t CameraCount() const
Get the number of cameras in this scene.
Ogre::SceneManager * OgreSceneManager() const
Get the OGRE scene manager.
LightPtr LightByIndex(const uint32_t _index) const
Get a light based on an index.
bool HasLayer(const int32_t _layer) const
Return true if the layer exits.
void ShowJoints(const bool _show)
Enable or disable joint visualization.
CameraPtr GetCamera(const uint32_t _index) const
Get a camera based on an index.
void SetBackgroundColor(const ignition::math::Color &_color)
Set the background color.
void SetFog(const std::string &_type, const ignition::math::Color &_color, const double _density, const double _start, const double _end)
Set the fog parameters.
uint32_t UserCameraCount() const
Get the number of user cameras in this scene.
bool LayerState(const int32_t _layer) const
Return whether a layer is on or off.
LightPtr GetLight(const uint32_t _index) const GAZEBO_DEPRECATED(9.1)
Get a light based on an index.
uint32_t GridCount() const
Get the number of grids.
void RemoveCamera(const std::string &_name)
Remove a camera from the scene.
void PreRender()
Process all received messages.
void DrawLine(const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end, const std::string &_name)
Draw a named line.
SkyX::SkyX * GetSkyX() const
Get the sky in the scene.
bool ShadowsEnabled() const
Get whether shadows are on or off.
void ShowInertias(const bool _show)
Enable or disable inertia visualization.
Scene(const std::string &_name, const bool _enableVisualizations=false, const bool _isServer=false)
Constructor.
void Clear()
Clear rendering::Scene.
VisualPtr GetVisual(const uint32_t _id) const
Get a visual by id.
void SetGrid(const bool _enabled)
Set the grid on or off.
void ShowClouds(const bool _show)
Display clouds in the sky.
Grid * GetGrid(uint32_t _index) const
Get a grid based on an index.
VisualPtr VisualAt(CameraPtr _camera, const ignition::math::Vector2i &_mousePos)
Get a visual at a mouse position.
VisualPtr WorldVisual() const
Get the top level world visual.
UserCameraPtr CreateUserCamera(const std::string &_name, const bool _stereoEnabled=false)
Create a user camera.
void SetVisible(const std::string &_name, const bool _visible)
Hide or show a visual.
virtual ~Scene()
Destructor.
WideAngleCameraPtr CreateWideAngleCamera(const std::string &_name, const bool _autoRender=true)
Create a wide-angle camera.
void SetWireframe(const bool _show)
Enable or disable wireframe for all visuals.
CameraPtr CreateCamera(const std::string &_name, const bool _autoRender=true)
Create a camera.
GpuLaserPtr CreateGpuLaser(const std::string &_name, const bool _autoRender=true)
Create laser that generates data from rendering.
void SnapVisualToNearestBelow(const std::string &_visualName)
Move the visual to be ontop of the nearest visual below it.
void PrintSceneGraph()
Print the scene graph to std_out.
void RemoveProjectors()
Remove all projectors.
void VisualsBelowPoint(const ignition::math::Vector3d &_pt, std::vector< VisualPtr > &_visuals)
Get a visual directly below a point.
double HeightBelowPoint(const ignition::math::Vector3d &_pt)
Get the Z-value of the first object below the given point.
ignition::math::Color AmbientColor() const
Get the ambient color.
UserCameraPtr GetUserCamera(const uint32_t _index) const
Get a user camera by index.
uint32_t Id() const
Get the scene ID.
void RemoveVisual(VisualPtr _vis)
Remove a visual from the scene.
std::string StripSceneName(const std::string &_name) const
Remove the name of scene from a string.
void SetAmbientColor(const ignition::math::Color &_color)
Set the ambient color.
void Load()
Load the scene with default parameters.
bool Initialized() const
Return true if the Scene has been initialized.
std::string IdString() const
Get the scene Id as a string.
void SetShadowsEnabled(const bool _value)
Set whether shadows are on or off.
common::Time SimTime() const
Get the scene simulation time.
DepthCameraPtr CreateDepthCamera(const std::string &_name, const bool _autoRender=true)
Create depth camera.
void SetTransparent(const bool _show)
Enable or disable transparency for all visuals.
CameraPtr GetCamera(const std::string &_name) const
Get a camera by name.
bool Wireframe() const
Get whether wireframe is enabled for all visuals.
VisualPtr GetVisual(const std::string &_name) const
Get a visual by name.
VisualPtr VisualBelow(const std::string &_visualName)
Get the closest visual below a given visual.
bool EnableVisualizations() const
Check whether visualizations are enabled or not.
void SetVisualId(VisualPtr _vis, const uint32_t _id)
void ShowLinkFrames(const bool _show)
Enable or disable link frame visualization.
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.
SkyXMode
Definition Scene.hh:95
@ GZ_SKYX_CLOUDS
Definition Scene.hh:97
@ GZ_SKYX_MOON
Definition Scene.hh:98
@ GZ_SKYX_NONE
Definition Scene.hh:99
@ GZ_SKYX_ALL
Definition Scene.hh:96
VisualType
Type of visual.
Definition Visual.hh:65
@ VT_ENTITY
Entity visual.
Definition Visual.hh:67
Definition Scene.hh:45
boost::shared_ptr< Light > LightPtr
Definition RenderTypes.hh:86
std::shared_ptr< Visual > VisualPtr
Definition RenderTypes.hh:114
boost::shared_ptr< DepthCamera > DepthCameraPtr
Definition RenderTypes.hh:98
boost::shared_ptr< Camera > CameraPtr
Definition RenderTypes.hh:90
boost::shared_ptr< WideAngleCamera > WideAngleCameraPtr
Definition RenderTypes.hh:102
boost::shared_ptr< UserCamera > UserCameraPtr
Definition RenderTypes.hh:94
boost::shared_ptr< GpuLaser > GpuLaserPtr
Definition RenderTypes.hh:106
Forward declarations for the common classes.
Definition Animation.hh:27
#define GAZEBO_DEPRECATED(version)
Definition system.hh:328