18 #ifndef _GAZEBO_VISUAL_HH_ 19 #define _GAZEBO_VISUAL_HH_ 21 #include <boost/enable_shared_from_this.hpp> 22 #include <boost/function.hpp> 33 #include "gazebo/msgs/MessageTypes.hh" 60 public std::enable_shared_from_this<Visual>
89 bool _useRTShader =
true);
97 bool _useRTShader =
true);
100 public:
virtual ~
Visual();
106 public:
virtual void Fini();
116 public:
void LoadFromMsg(ConstVisualPtr &_msg);
120 public:
void Load(sdf::ElementPtr _sdf);
123 public:
virtual void Load();
126 public:
void Update();
134 public: sdf::ElementPtr GetSDF()
const;
138 public:
void SetName(
const std::string &_name);
142 public: std::string GetName()
const;
146 public:
void AttachVisual(
VisualPtr _vis);
150 public:
void DetachVisual(
VisualPtr _vis);
154 public:
void DetachVisual(
const std::string &_name);
158 public:
void AttachObject(Ogre::MovableObject *_obj);
162 public:
bool HasAttachedObject(
const std::string &_name);
166 public:
unsigned int GetAttachedObjectCount()
const;
169 public:
void DetachObjects();
173 public:
unsigned int GetChildCount();
179 public:
VisualPtr GetChild(
unsigned int _index);
188 public: Ogre::MovableObject *AttachMesh(
const std::string &_meshName,
189 const std::string &_subMesh=
"",
190 bool _centerSubmesh =
false,
191 const std::string &_objName=
"");
203 public: ignition::math::Vector3d DerivedScale()
const;
207 public:
bool GetLighting()
const;
211 public:
void SetLighting(
bool _lighting);
219 public:
void SetMaterial(
const std::string &_materialName,
220 bool _unique =
true,
const bool _cascade =
true);
226 const bool _cascade =
true);
232 const bool _cascade =
true);
238 const bool _cascade =
true);
243 public:
virtual void SetEmissive(
const common::Color &_color,
244 const bool _cascade =
true);
264 public:
void SetWireframe(
bool _show);
268 public:
bool Wireframe()
const;
273 private:
void SetTransparencyInnerLoop(Ogre::SceneNode *_sceneNode);
278 public:
void SetTransparency(
float _trans);
282 public:
float GetTransparency();
287 public:
float DerivedTransparency()
const;
291 public:
void SetInheritTransparency(
const bool _inherit);
295 public:
bool InheritTransparency()
const;
300 public:
virtual void SetHighlighted(
bool _highlighted);
305 public:
bool GetHighlighted()
const;
309 public:
bool GetCastShadows()
const;
313 public:
void SetCastShadows(
bool _shadows);
318 public:
virtual void SetVisible(
bool _visible,
bool _cascade =
true);
321 public:
void ToggleVisible();
325 public:
bool GetVisible()
const;
337 public:
void SetPose(
const math::Pose &_pose);
353 public: ignition::math::Pose3d InitialRelativePose()
const;
361 public:
void SetWorldPose(
const math::Pose &_pose);
373 public: Ogre::SceneNode *GetSceneNode()
const;
376 public:
void MakeStatic();
380 public:
bool IsStatic()
const;
384 public:
void EnableTrackVisual(
VisualPtr _vis);
387 public:
void DisableTrackVisual();
391 public: std::string GetNormalMap()
const;
395 public:
void SetNormalMap(
const std::string &_nmap);
401 public:
void SetRibbonTrail(
bool _value,
407 public:
math::Box GetBoundingBox()
const;
423 unsigned int _index);
427 public: std::string GetMaterialName()
const;
433 public:
void InsertMesh(
const std::string &_meshName,
434 const std::string &_subMesh =
"",
435 bool _centerSubmesh =
false);
441 public:
static void InsertMesh(
const common::Mesh *_mesh,
442 const std::string &_subMesh =
"",
443 bool _centerSubmesh =
false);
447 public:
void UpdateFromMsg(ConstVisualPtr &_msg);
451 public:
bool IsPlane()
const;
468 public:
VisualPtr GetNthAncestor(
unsigned int _n);
483 public:
unsigned int GetDepth()
const;
488 public: std::string GetShaderType()
const;
493 public:
void SetShaderType(
const std::string &_type);
498 public:
void MoveToPosition(
const math::Pose &_pose,
double _time);
504 public:
void MoveToPositions(
const std::vector<math::Pose> &_pts,
506 boost::function<
void()> _onComplete =
NULL);
513 public:
void SetVisibilityFlags(uint32_t _flags);
520 public: uint32_t GetVisibilityFlags();
523 public:
void ShowBoundingBox();
528 public:
void ShowCollision(
bool _show);
532 public:
void ShowSkeleton(
bool _show);
536 public:
void SetScene(
ScenePtr _scene);
544 public:
void ShowJoints(
bool _show);
548 public:
void ShowCOM(
bool _show);
552 public:
void ShowInertia(
bool _show);
556 public:
void ShowLinkFrame(
bool _show);
560 public:
void SetSkeletonPose(
const msgs::PoseAnimation &_pose);
566 public:
void LoadPlugin(
const std::string &_filename,
567 const std::string &_name,
568 sdf::ElementPtr _sdf);
572 public:
void RemovePlugin(
const std::string &_name);
575 public: uint32_t GetId()
const;
578 public:
void SetId(uint32_t _id);
582 public: std::string GetGeometryType()
const;
586 public: ignition::math::Vector3d GetGeometrySize()
const;
590 public: std::string GetMeshName()
const;
595 public: std::string GetSubMeshName()
const;
598 public:
void ClearParent();
603 public:
void ToggleLayer(
const int32_t _layer);
615 public:
bool UseRTShader()
const;
620 public:
void SetTypeMsg(
const google::protobuf::Message *_msg);
626 public:
void AddPendingChild(std::pair<
VisualType,
627 const google::protobuf::Message *> _pair);
633 const msgs::Visual::Type &_type);
638 public:
static msgs::Visual::Type ConvertVisualType(
648 protected:
Visual(VisualPrivate &_dataPtr,
649 const std::string &_name,
VisualPtr _parent,
650 bool _useRTShader =
true);
659 protected:
Visual(VisualPrivate &_dataPtr,
660 const std::string &_name,
ScenePtr _scene,
661 bool _useRTShader =
true);
669 private:
void Init(
const std::string &_name,
ScenePtr _scene,
678 private:
void Init(
const std::string &_name,
VisualPtr _parent,
683 private:
void LoadPlugins();
685 private:
void LoadPlugin(sdf::ElementPtr _sdf);
690 private:
void GetBoundsHelper(Ogre::SceneNode *_node,
696 private:
bool GetCenterSubMesh()
const;
700 private:
void DestroyAllAttachedMovableObjects(
701 Ogre::SceneNode *_sceneNode);
706 private:
void UpdateGeomSize(
const ignition::math::Vector3d &_scale);
710 private:
void UpdateTransparency(
const bool _cascade =
true);
A 3D mesh.
Definition: Mesh.hh:44
Class for drawing lines that can change.
Definition: DynamicLines.hh:43
Link visual.
Definition: Visual.hh:70
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:714
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Entity visual.
Definition: Visual.hh:66
Mathematical representation of a box and related functions.
Definition: Box.hh:35
GUI visual.
Definition: Visual.hh:78
A renderable object.
Definition: Visual.hh:59
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:206
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:216
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:80
Model visual.
Definition: Visual.hh:68
VisualType
Type of visual.
Definition: Visual.hh:63
A quaternion class.
Definition: Quaternion.hh:42
#define NULL
Definition: CommonTypes.hh:31
Definition: JointMaker.hh:41
Defines a color.
Definition: Color.hh:36
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:112
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
Visual visual.
Definition: Visual.hh:72
Collision visual.
Definition: Visual.hh:74
Sensor visual.
Definition: Visual.hh:76