Scene Class Reference

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 math::Vector3 &_start, const math::Vector3 &_end, const std::string &_name) GAZEBO_DEPRECATED(7.0)
 Draw a named line. More...
 
void DrawLine (const ignition::math::Vector3d &_start, const ignition::math::Vector3d &_end, const std::string &_name)
 Draw a named line. 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...
 
common::Color GetAmbientColor () const GAZEBO_DEPRECATED(7.0)
 Get the ambient color. More...
 
common::Color GetBackgroundColor () const GAZEBO_DEPRECATED(7.0)
 Get the background color. 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...
 
uint32_t GetCameraCount () const GAZEBO_DEPRECATED(7.0)
 Get the number of cameras in this scene. More...
 
bool GetFirstContact (CameraPtr _camera, const math::Vector2i &_mousePos, math::Vector3 &_position) GAZEBO_DEPRECATED(7.0)
 Get the world pos of a the first contact at a pixel location. More...
 
GridGetGrid (uint32_t _index) const
 Get a grid based on an index. More...
 
uint32_t GetGridCount () const GAZEBO_DEPRECATED(7.0)
 Get the number of grids. More...
 
double GetHeightBelowPoint (const math::Vector3 &_pt) GAZEBO_DEPRECATED(7.0)
 Get the Z-value of the first object below the given point. More...
 
HeightmapGetHeightmap () const
 Get a pointer to the heightmap. More...
 
uint32_t GetId () const GAZEBO_DEPRECATED(7.0)
 Get the scene ID. More...
 
std::string GetIdString () const GAZEBO_DEPRECATED(7.0)
 Get the scene Id as a string. More...
 
bool GetInitialized () const GAZEBO_DEPRECATED(7.0)
 Return true if the Scene has been initialized. 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...
 
uint32_t GetLightCount () const GAZEBO_DEPRECATED(7.0)
 Get the count of the lights. More...
 
Ogre::SceneManager * GetManager () const GAZEBO_DEPRECATED(7.0)
 Get the OGRE scene manager. More...
 
VisualPtr GetModelVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0)
 Get a model's visual at a mouse position. More...
 
std::string GetName () const GAZEBO_DEPRECATED(7.0)
 Get the name of the scene. More...
 
VisualPtr GetSelectedVisual () const GAZEBO_DEPRECATED(7.0)
 Get the currently selected visual. More...
 
bool GetShadowsEnabled () const GAZEBO_DEPRECATED(7.0)
 Get whether shadows are on or off. More...
 
bool GetShowClouds () const GAZEBO_DEPRECATED(7.0)
 Get whether or not clouds are displayed. More...
 
common::Time GetSimTime () const GAZEBO_DEPRECATED(7.0)
 Get the scene simulation time. 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...
 
uint32_t GetUserCameraCount () const GAZEBO_DEPRECATED(7.0)
 Get the number of user cameras in this scene. 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...
 
VisualPtr GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos, std::string &_mod) GAZEBO_DEPRECATED(7.0)
 Get an entity at a pixel location using a camera. More...
 
VisualPtr GetVisualAt (CameraPtr _camera, const math::Vector2i &_mousePos) GAZEBO_DEPRECATED(7.0)
 Get a visual at a mouse position. More...
 
VisualPtr GetVisualBelow (const std::string &_visualName) GAZEBO_DEPRECATED(7.0)
 Get the closest visual below a given visual. More...
 
uint32_t GetVisualCount () const GAZEBO_DEPRECATED(7.0)
 Get the number of visuals. More...
 
void GetVisualsBelowPoint (const math::Vector3 &_pt, std::vector< VisualPtr > &_visuals) GAZEBO_DEPRECATED(7.0)
 Get a visual directly below a point. More...
 
VisualPtr GetWorldVisual () const GAZEBO_DEPRECATED(7.0)
 Get the top level world visual. More...
 
uint32_t GridCount () const
 Get the number of grids. More...
 
double HeightBelowPoint (const ignition::math::Vector3d &_pt)
 Get the Z-value of the first object below the given point. 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...
 
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 SetShadowsEnabled (const bool _value)
 Set whether shadows are on or off. 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...
 
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...
 
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.

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

Member Enumeration Documentation

◆ SkyXMode

enum SkyXMode
Enumerator
GZ_SKYX_ALL 
GZ_SKYX_CLOUDS 
GZ_SKYX_MOON 
GZ_SKYX_NONE 

Constructor & Destructor Documentation

◆ Scene()

Scene ( const std::string &  _name,
const bool  _enableVisualizations = false,
const bool  _isServer = false 
)

Constructor.

Parameters
[in]_nameName of the scene.
[in]_enableVisualizationsTrue to enable visualizations, this should be set to true for user interfaces, and false for sensor generation.

◆ ~Scene()

virtual ~Scene ( )
virtual

Destructor.

Member Function Documentation

◆ AddLight()

void AddLight ( LightPtr  _light)

Add a light to the scene.

Parameters
[in]_lightLight to add.

◆ AddVisual()

void AddVisual ( VisualPtr  _vis)

Add a visual to the scene.

Parameters
[in]_visVisual to add.

◆ AmbientColor()

common::Color AmbientColor ( ) const

Get the ambient color.

Returns
The scene's ambient color.

◆ BackgroundColor()

common::Color BackgroundColor ( ) const

Get the background color.

Returns
The background color.

◆ CameraCount()

uint32_t CameraCount ( ) const

Get the number of cameras in this scene.

Returns
Number of cameras.

◆ Clear()

void Clear ( )

◆ CreateCamera()

CameraPtr CreateCamera ( const std::string &  _name,
const bool  _autoRender = true 
)

Create a camera.

Parameters
[in]_nameName of the new camera.
[in]_autoRenderTrue to allow Gazebo to automatically render the camera. This should almost always be true.
Returns
Pointer to the new camera.

◆ CreateDepthCamera()

DepthCameraPtr CreateDepthCamera ( const std::string &  _name,
const bool  _autoRender = true 
)

Create depth camera.

Parameters
[in]_nameName of the new camera.
[in]_autoRenderTrue to allow Gazebo to automatically render the camera. This should almost always be true.
Returns
Pointer to the new camera.

◆ CreateGpuLaser()

GpuLaserPtr CreateGpuLaser ( const std::string &  _name,
const bool  _autoRender = true 
)

Create laser that generates data from rendering.

Parameters
[in]_nameName of the new laser.
[in]_autoRenderTrue to allow Gazebo to automatically render the camera. This should almost always be true.
Returns
Pointer to the new laser.

◆ CreateGrid()

void CreateGrid ( const uint32_t  _cellCount,
const float  _cellLength,
const float  _lineWidth,
const common::Color _color 
)

Create a square grid of cells.

Parameters
[in]_cellCountNumber of grid cells in one direction.
[in]_cellLengthLength of one grid cell.
[in]_lineWidthWidth of the grid lines.
[in]_colorColor of the grid lines.

◆ CreateUserCamera()

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]_nameName of the UserCamera.
[in]_stereoEnabledTrue to enable stereo rendering. This is here for compatibility with 3D monitors/TVs.
Returns
A pointer to the new UserCamera.

◆ CreateWideAngleCamera()

WideAngleCameraPtr CreateWideAngleCamera ( const std::string &  _name,
const bool  _autoRender = true 
)

Create a wide-angle camera.

Parameters
[in]_nameName of the new camera.
[in]_autoRenderTrue to allow Gazebo to automatically render the camera. This should almost always be true.
Returns
Pointer to the new camera.

◆ DrawLine() [1/2]

void DrawLine ( const math::Vector3 _start,
const math::Vector3 _end,
const std::string &  _name 
)

Draw a named line.

Parameters
[in]_startStart position of the line.
[in]_endEnd position of the line.
[in]_nameName of the line.
Deprecated:
See function that accepts ignition::math parameters.

◆ DrawLine() [2/2]

void DrawLine ( const ignition::math::Vector3d &  _start,
const ignition::math::Vector3d &  _end,
const std::string &  _name 
)

Draw a named line.

Parameters
[in]_startStart position of the line.
[in]_endEnd position of the line.
[in]_nameName of the line.

◆ FirstContact()

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]_cameraPointer to the camera.
[in]_mousePos2D position of the mouse in pixels.
[out]_position3D position of the first contact point.
Returns
True if a valid object was hit by the raycast.

◆ GetAmbientColor()

common::Color GetAmbientColor ( ) const

Get the ambient color.

Returns
The scene's ambient color.
Deprecated:
See AmbientColor()

◆ GetBackgroundColor()

common::Color GetBackgroundColor ( ) const

Get the background color.

Returns
The background color.
Deprecated:
See BackgroundColor()

◆ GetCamera() [1/2]

CameraPtr GetCamera ( const uint32_t  _index) const

Get a camera based on an index.

Index must be between 0 and Scene::GetCameraCount.

Parameters
[in]_indexIndex of the camera to get.
Returns
Pointer to the camera. Or NULL if the index is invalid.

◆ GetCamera() [2/2]

CameraPtr GetCamera ( const std::string &  _name) const

Get a camera by name.

Parameters
[in]_nameName of the camera.
Returns
Pointer to the camera. Or NULL if the name is invalid.

◆ GetCameraCount()

uint32_t GetCameraCount ( ) const

Get the number of cameras in this scene.

Returns
Number of cameras.
Deprecated:
See CameraCount()

◆ GetFirstContact()

bool GetFirstContact ( CameraPtr  _camera,
const math::Vector2i _mousePos,
math::Vector3 _position 
)

Get the world pos of a the first contact at a pixel location.

Parameters
[in]_cameraPointer to the camera.
[in]_mousePos2D position of the mouse in pixels.
[out]_position3D position of the first contact point.
Returns
True if a valid object was hit by the raycast.
Deprecated:
See FirstContact()

◆ GetGrid()

Grid* GetGrid ( uint32_t  _index) const

Get a grid based on an index.

Index must be between 0 and Scene::GetGridCount.

Parameters
[in]_indexIndex of the grid.

◆ GetGridCount()

uint32_t GetGridCount ( ) const

Get the number of grids.

Returns
The number of grids.
Deprecated:
See GridCount()

◆ GetHeightBelowPoint()

double GetHeightBelowPoint ( const math::Vector3 _pt)

Get the Z-value of the first object below the given point.

Parameters
[in]_ptPosition 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.
Deprecated:
See HeightBelowPoint()

◆ GetHeightmap()

Heightmap* GetHeightmap ( ) const

Get a pointer to the heightmap.

Returns
Pointer to the heightmap, NULL if no heightmap.

◆ GetId()

uint32_t GetId ( ) const

Get the scene ID.

Returns
The ID of the scene.
Deprecated:
See Id()

◆ GetIdString()

std::string GetIdString ( ) const

Get the scene Id as a string.

Returns
The ID as a string.
Deprecated:
See IdString()

◆ GetInitialized()

bool GetInitialized ( ) const

Return true if the Scene has been initialized.

Returns
True if the scene has been initialized.
Deprecated:
See Initialized()

◆ GetLight() [1/2]

LightPtr GetLight ( const std::string &  _name) const

Get a light by name.

Parameters
[in]_nameName of the light to get.
Returns
Pointer to the light, or NULL if the light was not found.

◆ GetLight() [2/2]

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]_indexIndex of the light.
Returns
Pointer to the Light or NULL if index was invalid.

◆ GetLightCount()

uint32_t GetLightCount ( ) const

Get the count of the lights.

Returns
The number of lights.
Deprecated:
See LightCount()

◆ GetManager()

Ogre::SceneManager* GetManager ( ) const

Get the OGRE scene manager.

Returns
Pointer to the Ogre SceneManager.
Deprecated:
See OgreSceneManager()

◆ GetModelVisualAt()

VisualPtr GetModelVisualAt ( CameraPtr  _camera,
const math::Vector2i _mousePos 
)

Get a model's visual at a mouse position.

Parameters
[in]_cameraPointer to the camera used to project the mouse position.
[in]_mousePosThe 2d position of the mouse in pixels.
Returns
Pointer to the visual, NULL if none found.
Deprecated:
See ModelVisualAt()

◆ GetName()

std::string GetName ( ) const

Get the name of the scene.

Returns
Name of the scene.
Deprecated:
See Name()

◆ GetSelectedVisual()

VisualPtr GetSelectedVisual ( ) const

Get the currently selected visual.

Returns
Pointer to the currently selected visual, or NULL if nothing is selected.
Deprecated:
See SelectedVisual()

◆ GetShadowsEnabled()

bool GetShadowsEnabled ( ) const

Get whether shadows are on or off.

Returns
True if shadows are enabled.
Deprecated:
See ShadowsEnabled()

◆ GetShowClouds()

bool GetShowClouds ( ) const

Get whether or not clouds are displayed.

Returns
True if clouds are displayed.
Deprecated:
See ShowClouds()

◆ GetSimTime()

common::Time GetSimTime ( ) 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
Deprecated:
See SimTime()

◆ GetSkyX()

SkyX::SkyX* GetSkyX ( ) const

Get the sky in the scene.

Returns
Pointer to the sky.

◆ GetUserCamera()

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]_indexIndex of the UserCamera to get.
Returns
Pointer to the UserCamera, or NULL if the index was invalid.

◆ GetUserCameraCount()

uint32_t GetUserCameraCount ( ) const

Get the number of user cameras in this scene.

Returns
The number of user cameras.
Deprecated:
See UserCameraCount()

◆ GetVisual() [1/2]

VisualPtr GetVisual ( const std::string &  _name) const

Get a visual by name.

Parameters
[in]_nameName of the visual to retrieve.
Returns
Pointer to the visual, NULL if not found.

◆ GetVisual() [2/2]

VisualPtr GetVisual ( const uint32_t  _id) const

Get a visual by id.

Parameters
[in]_idID of the visual to retrieve.
Returns
Pointer to the visual, NULL if not found.

◆ GetVisualAt() [1/2]

VisualPtr GetVisualAt ( CameraPtr  _camera,
const math::Vector2i _mousePos,
std::string &  _mod 
)

Get an entity at a pixel location using a camera.

Used for mouse picking.

Parameters
[in]_cameraThe ogre camera, used to do mouse picking
[in]_mousePosThe position of the mouse in screen coordinates
[out]_modUsed for object manipulation
Returns
The selected entity, or NULL
Deprecated:
See VisualAt()

◆ GetVisualAt() [2/2]

VisualPtr GetVisualAt ( CameraPtr  _camera,
const math::Vector2i _mousePos 
)

Get a visual at a mouse position.

Parameters
[in]_cameraPointer to the camera used to project the mouse position.
[in]_mousePosThe 2d position of the mouse in pixels.
Returns
Pointer to the visual, NULL if none found.
Deprecated:
See VisualAt()

◆ GetVisualBelow()

VisualPtr GetVisualBelow ( const std::string &  _visualName)

Get the closest visual below a given visual.

Parameters
[in]_visualNameName of the visual to search below.
Returns
Pointer to the visual below, or NULL if no visual.
Deprecated:
See VisualBelow()

◆ GetVisualCount()

uint32_t GetVisualCount ( ) const

Get the number of visuals.

Returns
The number of visuals in the Scene.
Deprecated:
See VisualCount()

◆ GetVisualsBelowPoint()

void GetVisualsBelowPoint ( const math::Vector3 _pt,
std::vector< VisualPtr > &  _visuals 
)

Get a visual directly below a point.

Parameters
[in]_pt3D point to get the visual below.
[out]_visualsThe visuals below the point order in proximity.
Deprecated:
See VisualsBelowPoint()

◆ GetWorldVisual()

VisualPtr GetWorldVisual ( ) const

Get the top level world visual.

Returns
Pointer to the world visual.
Deprecated:
See WorldVisual()

◆ GridCount()

uint32_t GridCount ( ) const

Get the number of grids.

Returns
The number of grids.

◆ HeightBelowPoint()

double HeightBelowPoint ( const ignition::math::Vector3d &  _pt)

Get the Z-value of the first object below the given point.

Parameters
[in]_ptPosition 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.

◆ Id()

uint32_t Id ( ) const

Get the scene ID.

Returns
The ID of the scene.

◆ IdString()

std::string IdString ( ) const

Get the scene Id as a string.

Returns
The ID as a string.

◆ Init()

void Init ( )

◆ Initialized()

bool Initialized ( ) const

Return true if the Scene has been initialized.

Returns
True if the scene has been initialized.

◆ LightCount()

uint32_t LightCount ( ) const

Get the count of the lights.

Returns
The number of lights.

◆ Load() [1/2]

void Load ( sdf::ElementPtr  _scene)

Load the scene from a set of parameters.

Parameters
[in]_sceneSDF scene element to load.

◆ Load() [2/2]

void Load ( )

Load the scene with default parameters.

◆ ModelVisualAt()

VisualPtr ModelVisualAt ( CameraPtr  _camera,
const ignition::math::Vector2i &  _mousePos 
)

Get a model's visual at a mouse position.

Parameters
[in]_cameraPointer to the camera used to project the mouse position.
[in]_mousePosThe 2d position of the mouse in pixels.
Returns
Pointer to the visual, NULL if none found.

◆ Name()

std::string Name ( ) const

Get the name of the scene.

Returns
Name of the scene.

◆ OgreSceneManager()

Ogre::SceneManager* OgreSceneManager ( ) const

Get the OGRE scene manager.

Returns
Pointer to the Ogre SceneManager.

◆ PreRender()

void PreRender ( )

Process all received messages.

◆ PrintSceneGraph()

void PrintSceneGraph ( )

Print the scene graph to std_out.

◆ RemoveCamera()

void RemoveCamera ( const std::string &  _name)

Remove a camera from the scene.

Parameters
[in]_nameName of the camera.

◆ RemoveLight()

void RemoveLight ( LightPtr  _light)

Remove a light to the scene.

Parameters
[in]_lightLight to Remove.

◆ RemoveProjectors()

void RemoveProjectors ( )

Remove all projectors.

◆ RemoveVisual() [1/2]

void RemoveVisual ( VisualPtr  _vis)

Remove a visual from the scene.

Parameters
[in]_visVisual to remove.

◆ RemoveVisual() [2/2]

void RemoveVisual ( const uint32_t  _id)

Remove a visual from the scene.

Parameters
[in]_idId of the visual to remove.

◆ SelectedVisual()

VisualPtr SelectedVisual ( ) const

Get the currently selected visual.

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

◆ SelectVisual()

void SelectVisual ( const std::string &  _name,
const std::string &  _mode 
)

Select a visual by name.

Parameters
[in]_nameName of the visual to select.
[in]_modeSelection mode (normal, or move).

◆ SetAmbientColor()

void SetAmbientColor ( const common::Color _color)

Set the ambient color.

Parameters
[in]_colorThe ambient color to use.

◆ SetBackgroundColor()

void SetBackgroundColor ( const common::Color _color)

Set the background color.

Parameters
[in]_colorThe background color.

◆ SetFog()

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]_typeType of fog: "linear", "exp", or "exp2".
[in]_colorColor of the fog.
[in]_densityFog density.
[in]_startDistance from camera to start the fog.
[in]_endDistance from camera at which the fog is at max density.

◆ SetGrid()

void SetGrid ( const bool  _enabled)

Set the grid on or off.

Parameters
[in]_enabledSet to true to turn on the grid

◆ SetShadowsEnabled()

void SetShadowsEnabled ( const bool  _value)

Set whether shadows are on or off.

Parameters
[in]_valueTrue to enable shadows, False to disable

◆ SetSkyXMode()

void SetSkyXMode ( const unsigned int  _mode)

Set SkyX mode to enable/disable skyx components such as clouds and moon.

Parameters
[in]_modeSkyX mode bitmask.
See also
Scene::SkyXMode

◆ SetTransparent()

void SetTransparent ( const bool  _show)

Enable or disable transparency for all visuals.

Parameters
[in]_showTrue to enable transparency for all visuals.

◆ SetVisible()

void SetVisible ( const std::string &  _name,
const bool  _visible 
)

Hide or show a visual.

Parameters
[in]_nameName of the visual to change.
[in]_visibleTrue to make visual visible, False to make it invisible.

◆ SetVisualId()

void SetVisualId ( VisualPtr  _vis,
const uint32_t  _id 
)

◆ SetWireframe()

void SetWireframe ( const bool  _show)

Enable or disable wireframe for all visuals.

Parameters
[in]_showTrue to enable wireframe for all visuals.

◆ ShadowsEnabled()

bool ShadowsEnabled ( ) const

Get whether shadows are on or off.

Returns
True if shadows are enabled.

◆ ShowClouds() [1/2]

void ShowClouds ( const bool  _show)

Display clouds in the sky.

Parameters
[in]_showTrue to display clouds.

◆ ShowClouds() [2/2]

bool ShowClouds ( ) const

Get whether or not clouds are displayed.

Returns
True if clouds are displayed.

◆ ShowCollisions()

void ShowCollisions ( const bool  _show)

Enable or disable collision visualization.

Parameters
[in]_showTrue to enable collision visualization.

◆ ShowCOMs()

void ShowCOMs ( const bool  _show)

Enable or disable center of mass visualization.

Parameters
[in]_showTrue to enable center of mass visualization.

◆ ShowContacts()

void ShowContacts ( const bool  _show)

Enable or disable contact visualization.

Parameters
[in]_showTrue to enable contact visualization.

◆ ShowInertias()

void ShowInertias ( const bool  _show)

Enable or disable inertia visualization.

Parameters
[in]_showTrue to enable inertia visualization.

◆ ShowJoints()

void ShowJoints ( const bool  _show)

Enable or disable joint visualization.

Parameters
[in]_showTrue to enable joint visualization.

◆ ShowLinkFrames()

void ShowLinkFrames ( const bool  _show)

Enable or disable link frame visualization.

Parameters
[in]_showTrue to enable link frame visualization.

◆ ShowOrigin()

void ShowOrigin ( const bool  _show)

Show/hide the world origin indicator.

Parameters
[in]_showTrue to show the origin.

◆ SimTime()

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

◆ SnapVisualToNearestBelow()

void SnapVisualToNearestBelow ( const std::string &  _visualName)

Move the visual to be ontop of the nearest visual below it.

Parameters
[in]_visualNameName of the visual to move.

◆ StripSceneName()

std::string StripSceneName ( const std::string &  _name) const

Remove the name of scene from a string.

Parameters
[in]_nameName to string the scene name from.
Returns
The stripped name.

◆ ToggleLayer()

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]_layerIndex of the layer to toggle.

◆ UserCameraCount()

uint32_t UserCameraCount ( ) const

Get the number of user cameras in this scene.

Returns
The number of user cameras.

◆ VisualAt() [1/2]

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]_cameraThe ogre camera, used to do mouse picking
[in]_mousePosThe position of the mouse in screen coordinates
[out]_modUsed for object manipulation
Returns
The selected entity, or NULL

◆ VisualAt() [2/2]

VisualPtr VisualAt ( CameraPtr  _camera,
const ignition::math::Vector2i &  _mousePos 
)

Get a visual at a mouse position.

Parameters
[in]_cameraPointer to the camera used to project the mouse position.
[in]_mousePosThe 2d position of the mouse in pixels.
Returns
Pointer to the visual, NULL if none found.

◆ VisualBelow()

VisualPtr VisualBelow ( const std::string &  _visualName)

Get the closest visual below a given visual.

Parameters
[in]_visualNameName of the visual to search below.
Returns
Pointer to the visual below, or NULL if no visual.

◆ VisualCount()

uint32_t VisualCount ( ) const

Get the number of visuals.

Returns
The number of visuals in the Scene.

◆ VisualsBelowPoint()

void VisualsBelowPoint ( const ignition::math::Vector3d &  _pt,
std::vector< VisualPtr > &  _visuals 
)

Get a visual directly below a point.

Parameters
[in]_pt3D point to get the visual below.
[out]_visualsThe visuals below the point order in proximity.

◆ Wireframe()

bool Wireframe ( ) const

Get whether wireframe is enabled for all visuals.

Returns
True if wireframe is enabled for all visuals.

◆ WorldVisual()

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: