RenderUtil.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2019 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/
#ifndef IGNITION_GAZEBO_RENDERUTIL_HH_
#define IGNITION_GAZEBO_RENDERUTIL_HH_

#include <memory>
#include <set>
#include <string>
#include <vector>

#include <sdf/Sensor.hh>

#include <ignition/gazebo/config.hh>
#include <ignition/gazebo/rendering/Export.hh>
#include <ignition/gazebo/System.hh>

#include "ignition/gazebo/rendering/SceneManager.hh"
#include "ignition/gazebo/rendering/MarkerManager.hh"


namespace ignition
{
namespace gazebo
{
// Inline bracket to help doxygen filtering.
inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  // forward declaration
  class RenderUtilPrivate;

  class IGNITION_GAZEBO_RENDERING_VISIBLE RenderUtil
  {
    public: explicit RenderUtil();

    public: ~RenderUtil();

    public: void Init();

    public: int PendingSensors() const;

    public: void Update();

    public: rendering::ScenePtr Scene() const;

    public: void UpdateECM(const UpdateInfo &_info,
                           EntityComponentManager &_ecm);

    public: void UpdateFromECM(const UpdateInfo &_info,
                               const EntityComponentManager &_ecm);

    public: void CreateVisualsForEntities(const EntityComponentManager &_ecm,
                                          const std::set<Entity> &_entities);

    public: void SetEngineName(const std::string &_engineName);

    public: std::string EngineName() const;

    public: void SetHeadlessRendering(const bool &_headless);

    public: bool HeadlessRendering() const;

    public: void SetSceneName(const std::string &_sceneName);

    public: std::string SceneName() const;

    public: void SetScene(const rendering::ScenePtr &_scene);

    public: void SetBackgroundColor(const math::Color &_color);

    public: void SetAmbientLight(const math::Color &_ambient);

    public: void SetSkyEnabled(bool _enabled);

    public: void ShowGrid();

    public: void SetUseCurrentGLContext(bool _enable);

    public: void SetWinID(const std::string &_winID);

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

    public : void SetRemoveSensorCb(
        std::function<void(const gazebo::Entity &)> _removeSensorCb);

    public: void ViewTransparent(const Entity &_entity);

    public: void ViewCOM(const Entity &_entity);

    public: void ViewInertia(const Entity &_entity);

    public: void ViewJoints(const Entity &_entity);

    public: void ViewWireframes(const Entity &_entity);

    public: void ViewCollisions(const Entity &_entity);

    public: class SceneManager &SceneManager();

    public: class MarkerManager &MarkerManager();

    public: std::chrono::steady_clock::duration SimTime() const;

    public: void SetSelectedEntity(const rendering::NodePtr &_node);

    public: const std::vector<Entity> &SelectedEntities() const;

    public: void DeselectAllEntities();

    private: std::vector<Entity> FindChildLinks(const Entity &_entity);

    private: void HideWireboxes(const Entity &_entity);

    public: void SetTransformActive(bool _active);

    public: void SetEventManager(EventManager *_mgr);

    private: std::unique_ptr<RenderUtilPrivate> dataPtr;
  };
}
}
}
#endif