RenderUtil Class Reference

#include <ignition/gazebo/gui/plugins/RenderUtil.hh>

Public Member Functions
	RenderUtil ()
	Constructor. More...
	~RenderUtil ()
	Destructor. More...
void	DeselectAllEntities ()
	Clears the set of selected entities and lowlights all of them. More...
std::string	EngineName () const
	Get the name of the rendering engine used. More...
Entity	EntityFromNode (const rendering::NodePtr &_node)
	Get the entity for a given node. More...
void	Init ()
	Initialize the renderer. Must be called in the rendering thread. More...
class MarkerManager &	MarkerManager ()
	Get the marker manager Returns reference to the marker manager. More...
int	PendingSensors () const
	Count of pending sensors. Must be called in the rendering thread. More...
rendering::ScenePtr	Scene () const
	Get a pointer to the scene. More...
class SceneManager &	SceneManager ()
	Get the scene manager Returns reference to the scene manager. More...
std::string	SceneName () const
	Get the name of the rendering scene used. More...
std::vector< Entity >	SelectedEntities () const
	Get the entities currently selected, in order of selection. More...
rendering::NodePtr	SelectedEntity () const
	Get the entity being selected. This will only return the last entity selected. TODO(anyone) Deprecate in favour of SelectedEntities. More...
void	SetAmbientLight (const math::Color &_ambient)
	Set ambient light of render window. This will override other sources, such as from SDF. More...
void	SetBackgroundColor (const math::Color &_color)
	Set background color of render window. This will override other sources, such as from SDF. More...
void	SetEnableSensors (bool _enable, std::function< std::string(const sdf::Sensor &, const std::string &)> _createSensorCb={})
	Set whether to create rendering sensors. More...
void	SetEngineName (const std::string &_engineName)
	Set the rendering engine to use. More...
void	SetSceneName (const std::string &_sceneName)
	Set the scene to use. More...
void	SetSelectedEntity (rendering::NodePtr _node)
	Set the entity being selected. More...
void	SetTransformActive (bool _active)
	Set whether the transform controls are currently being dragged. More...
void	SetUseCurrentGLContext (bool _enable)
	Set whether to use the current GL context. More...
void	ShowGrid ()
	Show grid view in the scene. More...
std::chrono::steady_clock::duration	SimTime () const
	Get simulation time that the current rendering state corresponds to. More...
void	Update ()
	Main update function. Must be called in the rendering thread. More...
void	UpdateFromECM (const UpdateInfo &_info, const EntityComponentManager &_ecm)
	Helper PostUpdate function for updating the scene. More...
void	ViewCollisions (const Entity &_entity)
	View collisions of specified entity which are shown in orange. More...

Constructor & Destructor Documentation

RenderUtil()

RenderUtil ( )

explicit

Constructor.

~RenderUtil()

~RenderUtil

(

)

Destructor.

Member Function Documentation

DeselectAllEntities()

void DeselectAllEntities

(

)

Clears the set of selected entities and lowlights all of them.

EngineName()

std::string EngineName

(

)

const

Get the name of the rendering engine used.

Returns

Name of the rendering engine

EntityFromNode()

Entity EntityFromNode

(

const rendering::NodePtr &

_node

)

Get the entity for a given node.

Parameters

[in]

_node

Node to get the entity for.

Returns

The entity for that node, or kNullEntity for no entity.

Deprecated:

Use gz::rendering::Visual::UserData instead.

Init()

void Init

(

)

Initialize the renderer. Must be called in the rendering thread.

MarkerManager()

class MarkerManager& MarkerManager

(

)

Get the marker manager Returns reference to the marker manager.

PendingSensors()

int PendingSensors

(

)

const

Count of pending sensors. Must be called in the rendering thread.

Returns

Number of sensors to be added on the next Update call

In the case that RenderUtil has not been initialized, this method will return -1.

Scene()

rendering::ScenePtr Scene

(

)

const

Get a pointer to the scene.

Returns

Pointer to the scene

SceneManager()

class SceneManager& SceneManager

(

)

Get the scene manager Returns reference to the scene manager.

SceneName()

std::string SceneName

(

)

const

Get the name of the rendering scene used.

Returns

Name of the rendering scene.

SelectedEntities()

std::vector<Entity> SelectedEntities

(

)

const

Get the entities currently selected, in order of selection.

Returns

Vector of currently selected entities

SelectedEntity()

rendering::NodePtr SelectedEntity

(

)

const

Get the entity being selected. This will only return the last entity selected. TODO(anyone) Deprecate in favour of SelectedEntities.

SetAmbientLight()

void SetAmbientLight

(

const math::Color &

_ambient

)

Set ambient light of render window. This will override other sources, such as from SDF.

Parameters

[in]

_ambient

Color of ambient light

SetBackgroundColor()

void SetBackgroundColor

(

const math::Color &

_color

)

Set background color of render window. This will override other sources, such as from SDF.

Parameters

[in]

_color

Color of render window background

SetEnableSensors()

void SetEnableSensors	(	bool	_enable,
		std::function< std::string(const sdf::Sensor &, const std::string &)>	_createSensorCb = {}
	)

Set whether to create rendering sensors.

Parameters

[in]	_enable	True to create rendering sensors
[in]	_createSensorCb	Callback function for creating the sensors The callback function args are: sensor sdf, and parent name, and returns the name of the rendering sensor created.

SetEngineName()

void SetEngineName

(

const std::string &

_engineName

)

Set the rendering engine to use.

Parameters

[in]

_engineName

Name of the rendering engine.

SetSceneName()

void SetSceneName

(

const std::string &

_sceneName

)

Set the scene to use.

Parameters

[in]

_sceneName

Name of the engine.

SetSelectedEntity()

void SetSelectedEntity

(

rendering::NodePtr

_node

)

Set the entity being selected.

Parameters

[in]

_node

Node representing the selected entity TODO(anyone) Make const ref when merging forward

SetTransformActive()

void SetTransformActive

(

bool

_active

)

Set whether the transform controls are currently being dragged.

Parameters

[in]

_active

True if active.

SetUseCurrentGLContext()

void SetUseCurrentGLContext

(

bool

_enable

)

Set whether to use the current GL context.

Parameters

[in]

_enable

True to use the current GL context

ShowGrid()

void ShowGrid

(

)

Show grid view in the scene.

SimTime()

std::chrono::steady_clock::duration SimTime

(

)

const

Get simulation time that the current rendering state corresponds to.

Returns

Simulation time.

Update()

void Update

(

)

Main update function. Must be called in the rendering thread.

UpdateFromECM()

void UpdateFromECM	(	const UpdateInfo &	_info,
		const EntityComponentManager &	_ecm
	)

Helper PostUpdate function for updating the scene.

ViewCollisions()

void ViewCollisions

(

const Entity &

_entity

)

View collisions of specified entity which are shown in orange.

Parameters

[in]

_entity

Entity to view collisions

---

The documentation for this class was generated from the following file:

• gz/sim/rendering/RenderUtil.hh