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17 #ifndef GAZEBO_RENDERING_LIGHT_HH_
18 #define GAZEBO_RENDERING_LIGHT_HH_
23 #include <ignition/math/Color.hh>
24 #include <ignition/math/Quaternion.hh>
25 #include <ignition/math/Vector3.hh>
53 class GZ_RENDERING_VISIBLE
Light :
54 public boost::enable_shared_from_this<Light>
61 public:
virtual ~
Light();
66 public:
void Load(sdf::ElementPtr _sdf);
73 public:
void LoadFromMsg(ConstLightPtr &_msg);
77 public:
void LoadFromMsg(
const msgs::Light &_msg);
81 public:
void SetName(
const std::string &_name);
85 public: std::string Name()
const;
89 public: std::string Type()
const;
93 public:
void SetPosition(
const ignition::math::Vector3d &_p);
97 public: ignition::math::Vector3d Position()
const;
101 public:
void SetRotation(
const ignition::math::Quaterniond &_q);
105 public: ignition::math::Quaterniond Rotation()
const;
109 public: ignition::math::Pose3d WorldPose()
const;
114 public:
virtual bool SetSelected(
const bool _s);
117 public:
void ToggleShowVisual();
121 public:
void ShowVisual(
const bool _s);
126 public:
void SetVisible(
const bool _s);
130 public:
bool Visible()
const;
134 public:
void SetLightType(
const std::string &_type);
138 public: std::string LightType()
const;
142 public:
void SetDiffuseColor(
const ignition::math::Color &_color);
146 public: ignition::math::Color DiffuseColor()
const;
150 public:
void SetSpecularColor(
const ignition::math::Color &_color);
154 public: ignition::math::Color SpecularColor()
const;
159 public:
void SetDirection(
const ignition::math::Vector3d &_dir);
163 public: ignition::math::Vector3d Direction()
const;
169 public:
void SetAttenuation(
double _constant,
double _linear,
174 public:
void SetSpotInnerAngle(
const double _angle);
178 public:
void SetSpotOuterAngle(
const double _angle);
182 public:
void SetSpotFalloff(
const double _value);
186 public:
void SetRange(
const double _range);
190 public:
void SetCastShadows(
const bool _cast);
194 public:
bool CastShadows()
const;
198 public:
void FillMsg(msgs::Light &_msg)
const;
202 public:
void UpdateFromMsg(ConstLightPtr &_msg);
212 public: uint32_t Id()
const;
218 private:
void CreateVisual();
221 private:
void Update();
225 private:
void UpdateSDFFromMsg(
const msgs::Light &_msg);
229 private: std::unique_ptr<LightPrivate> dataPtr;
void FillMsg(msgs::Light &_msg) const
Fill the contents of a light message.
std::string Name() const
Get the name of the visual.
void LoadFromMsg(ConstLightPtr &_msg)
Load from a light message.
void SetDirection(const ignition::math::Vector3d &_dir)
Set the direction.
void SetCastShadows(const bool _cast)
Set cast shadows.
virtual ~Light()
Destructor.
Definition: JointMaker.hh:39
uint32_t Id() const
Get the id associated with this light.
bool CastShadows() const
Get cast shadows.
Forward declarations for the common classes.
Definition: Animation.hh:26
bool Visible() const
Get whether the light is visible.
std::string Type() const
Get the type of the light.
ignition::math::Vector3d Position() const
Get the position of the light.
std::string LightType() const
Get the light type.
virtual void OnPoseChange()
On pose change callback.
Definition: rendering/Light.hh:215
void SetPosition(const ignition::math::Vector3d &_p)
Set the position of the light.
ignition::math::Pose3d WorldPose() const
Get the world pose of the light.
void SetRange(const double _range)
Set the range.
void SetVisible(const bool _s)
Set whether the light will be visible.
void SetSpotInnerAngle(const double _angle)
Set the spot light inner angle.
void SetRotation(const ignition::math::Quaterniond &_q)
Set the rotation of the light.
void SetName(const std::string &_name)
Set the name of the visual.
ignition::math::Quaterniond Rotation() const
Get the rotation of the light.
void SetAttenuation(double _constant, double _linear, double _quadratic)
Set the attenuation.
virtual bool SetSelected(const bool _s)
Set whether this entity has been selected by the user through the gui.
LightPtr Clone(const std::string &_name, ScenePtr _scene)
Clone the light with a new name.
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
rendering
Definition: RenderEngine.hh:31
void UpdateFromMsg(ConstLightPtr &_msg)
Update a light source from a message.
void SetDiffuseColor(const ignition::math::Color &_color)
Set the diffuse color.
void SetLightType(const std::string &_type)
Set the light type.
void SetSpotFalloff(const double _value)
Set the spot light falloff.
void ShowVisual(const bool _s)
Set whether to show the visual.
Light(ScenePtr _scene)
Constructor.
void Load()
Load the light using default parameters.
ignition::math::Color SpecularColor() const
Get the specular color.
ignition::math::Vector3d Direction() const
Get the direction.
void SetSpecularColor(const ignition::math::Color &_color)
Set the specular color.
boost::shared_ptr< Light > LightPtr
Definition: RenderTypes.hh:86
ignition::math::Color DiffuseColor() const
Get the diffuse color.
A light source.
Definition: rendering/Light.hh:53
void SetSpotOuterAngle(const double _angle)
Set the spot light outer angle.