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 boost::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:
bool GetLighting()
const;
207 public:
void SetLighting(
bool _lighting);
214 public:
void SetMaterial(
const std::string &_materialName,
215 bool _unique =
true);
247 public:
void SetWireframe(
bool _show);
252 private:
void SetTransparencyInnerLoop(Ogre::SceneNode *_sceneNode);
257 public:
void SetTransparency(
float _trans);
261 public:
float GetTransparency();
266 public:
virtual void SetHighlighted(
bool _highlighted);
271 public:
bool GetHighlighted()
const;
275 public:
virtual void SetEmissive(
const common::Color &_color);
279 public:
bool GetCastShadows()
const;
283 public:
void SetCastShadows(
bool _shadows);
288 public:
void SetVisible(
bool _visible,
bool _cascade =
true);
291 public:
void ToggleVisible();
295 public:
bool GetVisible()
const;
307 public:
void SetPose(
const math::Pose &_pose);
327 public:
void SetWorldPose(
const math::Pose &_pose);
339 public: Ogre::SceneNode *GetSceneNode()
const;
342 public:
void MakeStatic();
346 public:
bool IsStatic()
const;
350 public:
void EnableTrackVisual(
VisualPtr _vis);
353 public:
void DisableTrackVisual();
357 public: std::string GetNormalMap()
const;
361 public:
void SetNormalMap(
const std::string &_nmap);
367 public:
void SetRibbonTrail(
bool _value,
373 public:
math::Box GetBoundingBox()
const;
389 unsigned int _index);
393 public: std::string GetMaterialName()
const;
399 public:
void InsertMesh(
const std::string &_meshName,
400 const std::string &_subMesh =
"",
401 bool _centerSubmesh =
false);
407 public:
static void InsertMesh(
const common::Mesh *_mesh,
408 const std::string &_subMesh =
"",
409 bool _centerSubmesh =
false);
413 public:
void UpdateFromMsg(ConstVisualPtr &_msg);
417 public:
bool IsPlane()
const;
434 public:
VisualPtr GetNthAncestor(
unsigned int _n);
439 public:
unsigned int GetDepth()
const;
444 public: std::string GetShaderType()
const;
449 public:
void SetShaderType(
const std::string &_type);
454 public:
void MoveToPosition(
const math::Pose &_pose,
double _time);
460 public:
void MoveToPositions(
const std::vector<math::Pose> &_pts,
462 boost::function<
void()> _onComplete =
NULL);
469 public:
void SetVisibilityFlags(uint32_t _flags);
476 public: uint32_t GetVisibilityFlags();
479 public:
void ShowBoundingBox();
484 public:
void ShowCollision(
bool _show);
488 public:
void ShowSkeleton(
bool _show);
492 public:
void SetScene(
ScenePtr _scene);
500 public:
void ShowJoints(
bool _show);
504 public:
void ShowCOM(
bool _show);
508 public:
void ShowInertia(
bool _show);
512 public:
void ShowLinkFrame(
bool _show);
516 public:
void SetSkeletonPose(
const msgs::PoseAnimation &_pose);
522 public:
void LoadPlugin(
const std::string &_filename,
523 const std::string &_name,
524 sdf::ElementPtr _sdf);
528 public:
void RemovePlugin(
const std::string &_name);
531 public: uint32_t GetId()
const;
534 public:
void SetId(uint32_t _id);
538 public: std::string GetGeometryType()
const;
542 public: std::string GetMeshName()
const;
547 public: std::string GetSubMeshName()
const;
550 public:
void ClearParent();
555 public:
void ToggleLayer(
const int32_t _layer);
569 const msgs::Visual::Type &_type);
574 public:
static msgs::Visual::Type ConvertVisualType(
585 const std::string &_name,
VisualPtr _parent,
586 bool _useRTShader =
true);
596 const std::string &_name,
ScenePtr _scene,
597 bool _useRTShader =
true);
605 private:
void Init(
const std::string &_name,
ScenePtr _scene,
614 private:
void Init(
const std::string &_name,
VisualPtr _parent,
619 private:
void LoadPlugins();
621 private:
void LoadPlugin(sdf::ElementPtr _sdf);
626 private:
void GetBoundsHelper(Ogre::SceneNode *_node,
632 private:
bool GetCenterSubMesh()
const;
636 private:
void DestroyAllAttachedMovableObjects(
637 Ogre::SceneNode *_sceneNode);
A 3D mesh.
Definition: Mesh.hh:44
VisualPrivate * dataPtr
Definition: Visual.hh:646
Class for drawing lines that can change.
Definition: DynamicLines.hh:43
Visual 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
Private data for the Visual class.
Definition: VisualPrivate.hh:58
The Vector3 class represents the generic vector containing 3 elements.
Definition: Vector3.hh:39
Mathematical representation of a box and related functions.
Definition: Box.hh:35
A renderable object.
Definition: Visual.hh:59
Entity visual.
Definition: Visual.hh:66
Sensor visual.
Definition: Visual.hh:76
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:197
Model visual.
Definition: Visual.hh:68
#define GZ_RENDERING_VISIBLE
Definition: system.hh:241
GUI visual.
Definition: Visual.hh:78
A quaternion class.
Definition: Quaternion.hh:42
Link visual.
Definition: Visual.hh:70
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:207
#define NULL
Definition: CommonTypes.hh:30
VisualType
Type of visual.
Definition: Visual.hh:63
Definition: JointMaker.hh:36
Defines a color.
Definition: Color.hh:36
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:79
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
boost::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:107
Collision visual.
Definition: Visual.hh:74