Visual.hh
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2  * Copyright (C) 2012 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
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8  * http://www.apache.org/licenses/LICENSE-2.0
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10  * Unless required by applicable law or agreed to in writing, software
11  * distributed under the License is distributed on an "AS IS" BASIS,
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13  * See the License for the specific language governing permissions and
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16 */
17 
18 #ifndef _GAZEBO_VISUAL_HH_
19 #define _GAZEBO_VISUAL_HH_
20 
21 #ifndef Q_MOC_RUN
22 #include <boost/enable_shared_from_this.hpp>
23 #include <boost/function.hpp>
24 #endif
25 #include <string>
26 #include <utility>
27 #include <vector>
28 
29 #include <sdf/sdf.hh>
30 
31 #include "gazebo/common/Color.hh"
32 #include "gazebo/common/Mesh.hh"
33 #include "gazebo/common/Time.hh"
34 
35 #include "gazebo/msgs/MessageTypes.hh"
36 #include "gazebo/math/Box.hh"
37 #include "gazebo/math/Pose.hh"
39 #include "gazebo/math/Vector3.hh"
40 
42 #include "gazebo/util/system.hh"
43 
44 namespace Ogre
45 {
46  class MovableObject;
47  class SceneNode;
48 }
49 
50 namespace gazebo
51 {
52  namespace rendering
53  {
54  class VisualPrivate;
55 
58 
61  class GZ_RENDERING_VISIBLE Visual :
62  public std::enable_shared_from_this<Visual>
63  {
65  public: enum VisualType
66  {
82  VT_PHYSICS
83  };
84 
90  public: Visual(const std::string &_name, VisualPtr _parent,
91  bool _useRTShader = true);
92 
98  public: Visual(const std::string &_name, ScenePtr _scene,
99  bool _useRTShader = true);
100 
102  public: virtual ~Visual();
103 
105  public: void Init();
106 
108  public: virtual void Fini();
109 
114  public: VisualPtr Clone(const std::string &_name, VisualPtr _newParent);
115 
118  public: void LoadFromMsg(ConstVisualPtr &_msg);
119 
122  public: void Load(sdf::ElementPtr _sdf);
123 
125  public: virtual void Load();
126 
128  public: void Update();
129 
136  public: sdf::ElementPtr GetSDF() const;
137 
140  public: void SetName(const std::string &_name);
141 
144  public: std::string GetName() const;
145 
148  public: void AttachVisual(VisualPtr _vis);
149 
152  public: void DetachVisual(VisualPtr _vis);
153 
156  public: void DetachVisual(const std::string &_name);
157 
160  public: void AttachObject(Ogre::MovableObject *_obj);
161 
164  public: bool HasAttachedObject(const std::string &_name);
165 
168  public: unsigned int GetAttachedObjectCount() const;
169 
171  public: void DetachObjects();
172 
175  public: unsigned int GetChildCount();
176 
181  public: VisualPtr GetChild(unsigned int _index);
182 
190  public: Ogre::MovableObject *AttachMesh(const std::string &_meshName,
191  const std::string &_subMesh="",
192  bool _centerSubmesh = false,
193  const std::string &_objName="");
194 
197  public: void SetScale(const math::Vector3 &_scale);
198 
201  public: math::Vector3 GetScale();
202 
205  public: ignition::math::Vector3d DerivedScale() const;
206 
209  public: bool GetLighting() const;
210 
213  public: void SetLighting(bool _lighting);
214 
221  public: void SetMaterial(const std::string &_materialName,
222  bool _unique = true, const bool _cascade = true);
223 
227  public: void SetAmbient(const common::Color &_color,
228  const bool _cascade = true);
229 
233  public: void SetDiffuse(const common::Color &_color,
234  const bool _cascade = true);
235 
239  public: void SetSpecular(const common::Color &_color,
240  const bool _cascade = true);
241 
245  public: virtual void SetEmissive(const common::Color &_color,
246  const bool _cascade = true);
247 
250  public: common::Color GetAmbient() const;
251 
254  public: common::Color GetDiffuse() const;
255 
258  public: common::Color GetSpecular() const;
259 
262  public: common::Color GetEmissive() const;
263 
266  public: void SetWireframe(bool _show);
267 
270  public: bool Wireframe() const;
271 
275  private: void SetTransparencyInnerLoop(Ogre::SceneNode *_sceneNode);
276 
280  public: void SetTransparency(float _trans);
281 
284  public: float GetTransparency();
285 
289  public: float DerivedTransparency() const;
290 
293  public: void SetInheritTransparency(const bool _inherit);
294 
297  public: bool InheritTransparency() const;
298 
302  public: virtual void SetHighlighted(bool _highlighted);
303 
307  public: bool GetHighlighted() const;
308 
311  public: bool GetCastShadows() const;
312 
315  public: void SetCastShadows(bool _shadows);
316 
320  public: virtual void SetVisible(bool _visible, bool _cascade = true);
321 
323  public: void ToggleVisible();
324 
327  public: bool GetVisible() const;
328 
331  public: void SetPosition(const math::Vector3 &_pos);
332 
335  public: void SetRotation(const math::Quaternion &_rot);
336 
339  public: void SetPose(const math::Pose &_pose);
340 
343  public: math::Vector3 GetPosition() const;
344 
347  public: math::Quaternion GetRotation() const;
348 
351  public: math::Pose GetPose() const;
352 
355  public: ignition::math::Pose3d InitialRelativePose() const;
356 
359  public: math::Pose GetWorldPose() const;
360 
363  public: void SetWorldPose(const math::Pose &_pose);
364 
367  public: void SetWorldPosition(const math::Vector3 &_pos);
368 
371  public: void SetWorldRotation(const math::Quaternion &_rot);
372 
375  public: Ogre::SceneNode *GetSceneNode() const;
376 
378  public: void MakeStatic();
379 
382  public: bool IsStatic() const;
383 
386  public: void EnableTrackVisual(VisualPtr _vis);
387 
389  public: void DisableTrackVisual();
390 
393  public: std::string GetNormalMap() const;
394 
397  public: void SetNormalMap(const std::string &_nmap);
398 
403  public: void SetRibbonTrail(bool _value,
404  const common::Color &_initialColor,
405  const common::Color &_changeColor);
406 
409  public: math::Box GetBoundingBox() const;
410 
414  public: DynamicLines *CreateDynamicLine(
416 
419  public: void DeleteDynamicLine(DynamicLines *_line);
420 
424  public: void AttachLineVertex(DynamicLines *_line,
425  unsigned int _index);
426 
429  public: std::string GetMaterialName() const;
430 
435  public: void InsertMesh(const std::string &_meshName,
436  const std::string &_subMesh = "",
437  bool _centerSubmesh = false);
438 
443  public: static void InsertMesh(const common::Mesh *_mesh,
444  const std::string &_subMesh = "",
445  bool _centerSubmesh = false);
446 
449  public: void UpdateFromMsg(ConstVisualPtr &_msg);
450 
453  public: bool IsPlane() const;
454 
457  public: VisualPtr GetParent() const;
458 
462  public: VisualPtr GetRootVisual();
463 
470  public: VisualPtr GetNthAncestor(unsigned int _n);
471 
475  public: bool IsAncestorOf(const rendering::VisualPtr _visual) const;
476 
480  public: bool IsDescendantOf(const rendering::VisualPtr _visual) const;
481 
485  public: unsigned int GetDepth() const;
486 
490  public: std::string GetShaderType() const;
491 
495  public: void SetShaderType(const std::string &_type);
496 
500  public: void MoveToPosition(const math::Pose &_pose, double _time);
501 
506  public: void MoveToPositions(const std::vector<math::Pose> &_pts,
507  double _time,
508  boost::function<void()> _onComplete = NULL);
509 
515  public: void SetVisibilityFlags(uint32_t _flags);
516 
522  public: uint32_t GetVisibilityFlags();
523 
525  public: void ShowBoundingBox();
526 
530  public: void ShowCollision(bool _show);
531 
534  public: void ShowSkeleton(bool _show);
535 
538  public: void SetScene(ScenePtr _scene);
539 
542  public: ScenePtr GetScene() const;
543 
546  public: void ShowJoints(bool _show);
547 
550  public: void ShowCOM(bool _show);
551 
554  public: void ShowInertia(bool _show);
555 
558  public: void ShowLinkFrame(bool _show);
559 
562  public: void SetSkeletonPose(const msgs::PoseAnimation &_pose);
563 
568  public: void LoadPlugin(const std::string &_filename,
569  const std::string &_name,
570  sdf::ElementPtr _sdf);
571 
574  public: void RemovePlugin(const std::string &_name);
575 
577  public: uint32_t GetId() const;
578 
580  public: void SetId(uint32_t _id);
581 
584  public: std::string GetGeometryType() const;
585 
588  public: ignition::math::Vector3d GetGeometrySize() const;
589 
592  public: std::string GetMeshName() const;
593 
597  public: std::string GetSubMeshName() const;
598 
600  public: void ClearParent();
601 
605  public: void ToggleLayer(const int32_t _layer);
606 
609  public: Visual::VisualType GetType() const;
610 
613  public: void SetType(const Visual::VisualType _type);
614 
617  public: bool UseRTShader() const;
618 
622  public: void SetTypeMsg(const google::protobuf::Message *_msg);
623 
628  public: void AddPendingChild(std::pair<VisualType,
629  const google::protobuf::Message *> _pair);
630 
634  public: static Visual::VisualType ConvertVisualType(
635  const msgs::Visual::Type &_type);
636 
640  public: static msgs::Visual::Type ConvertVisualType(
641  const Visual::VisualType &_type);
642 
650  protected: Visual(VisualPrivate &_dataPtr,
651  const std::string &_name, VisualPtr _parent,
652  bool _useRTShader = true);
653 
661  protected: Visual(VisualPrivate &_dataPtr,
662  const std::string &_name, ScenePtr _scene,
663  bool _useRTShader = true);
664 
671  private: void Init(const std::string &_name, ScenePtr _scene,
672  bool _useRTShader);
673 
680  private: void Init(const std::string &_name, VisualPtr _parent,
681  bool _useRTShader);
682 
685  private: void LoadPlugins();
686 
687  private: void LoadPlugin(sdf::ElementPtr _sdf);
688 
692  private: void GetBoundsHelper(Ogre::SceneNode *_node,
693  math::Box &_box) const;
694 
698  private: bool GetCenterSubMesh() const;
699 
702  private: void DestroyAllAttachedMovableObjects(
703  Ogre::SceneNode *_sceneNode);
704 
708  private: void UpdateGeomSize(const ignition::math::Vector3d &_scale);
709 
712  private: void UpdateTransparency(const bool _cascade = true);
713 
716  protected: VisualPrivate *dataPtr;
717  };
719  }
720 }
721 #endif
A 3D mesh.
Definition: Mesh.hh:44
Class for drawing lines that can change.
Definition: DynamicLines.hh:43
Link visual.
Definition: Visual.hh:72
Forward declarations for the common classes.
Definition: Animation.hh:33
Encapsulates a position and rotation in three space.
Definition: Pose.hh:37
VisualPrivate * dataPtr
Definition: Visual.hh:716
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Entity visual.
Definition: Visual.hh:68
Mathematical representation of a box and related functions.
Definition: Box.hh:35
GUI visual.
Definition: Visual.hh:80
A renderable object.
Definition: Visual.hh:61
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:208
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:218
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
Model visual.
Definition: Visual.hh:70
VisualType
Type of visual.
Definition: Visual.hh:65
A quaternion class.
Definition: Quaternion.hh:42
#define NULL
Definition: CommonTypes.hh:33
Definition: JointMaker.hh:41
Defines a color.
Definition: Color.hh:36
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Visual visual.
Definition: Visual.hh:74
Collision visual.
Definition: Visual.hh:76
Sensor visual.
Definition: Visual.hh:78