Ign-rendering renderer. All ign-rendering calls should be performed inside this class as it makes sure that opengl calls in the underlying render engine do not interfere with QtQuick's opengl render operations. The main Render function will render to an offscreen texture and notify via signal and slots when it's ready to be displayed. More...

#include <Scene3D.hh>

Signals
void	ContextMenuRequested (QString _entity)
	Signal fired when context menu event is triggered. More...

void	FollowTargetChanged (const std::string &_target, bool _waitForTarget)
	When fired, the follow target changed. May not be fired for every target change. More...

Public Member Functions
	IgnRenderer ()
	Constructor. More...

	~IgnRenderer () override
	Destructor. More...

math::Pose3d	CameraPose () const
	Get the current camera pose. More...

void	Destroy ()
	Destroy camera associated with this renderer. More...

math::Vector3d	FollowOffset () const
	Get the camera follow offset position. More...

std::string	FollowTarget () const
	Get the target which the user camera is following. More...

bool	FollowWorldFrame () const
	Get whether the camera is following the entity in world frame. More...

bool	GeneratePreview (const sdf::Root &_sdf)
	Generate a preview of a resource. More...

void	HandleKeyPress (QKeyEvent *_e)
	Handle key press event for snapping. More...

void	HandleKeyRelease (QKeyEvent *_e)
	Handle key release event for snapping. More...

std::string	Initialize ()
	Initialize the render engine. More...

void	NewHoverEvent (const math::Vector2i &_hoverPos)
	New hover event triggered. More...

void	NewMouseEvent (const common::MouseEvent &_e, const math::Vector2d &_drag=math::Vector2d::Zero)
	New mouse event triggered. More...

void	Render (RenderSync *_renderSync)
	Main render function. More...

class RenderUtil *	RenderUtil () const
	Set the renderer. More...

void	RequestSelectionChange (Entity _selectedEntity, bool _deselectAll, bool _sendEvent)
	Request entity selection. This queues the selection to be handled later in the render thread. More...

math::Vector3d	RPYSnap () const
	Get the RPY snap values. More...

math::Vector3d	ScaleSnap () const
	Get the scale snap values. More...

math::Vector3d	ScreenToPlane (const math::Vector2i &_screenPos) const
	Retrieve the point on a plane at z = 0 in the 3D scene hit by a ray cast from the given 2D screen coordinates. More...

math::Vector3d	ScreenToScene (const math::Vector2i &_screenPos) const
	Retrieve the first point on a surface in the 3D scene hit by a ray cast from the given 2D screen coordinates. More...

void	SetDropdownMenuEnabled (bool _enableDropdownMenu)
	Set if the dropdown menu is enabled or disabled. More...

void	SetFollowOffset (const math::Vector3d &_offset)
	Set the camera follow offset position. More...

void	SetFollowPGain (double _gain)
	Set the p gain for the camera follow movement. More...

void	SetFollowTarget (const std::string &_target, bool _waitForTarget=false)
	Move the user camera to follow the speficied target. More...

void	SetFollowWorldFrame (bool _worldFrame)
	True to set the camera to follow the target in world frame, false to follow in target's local frame. More...

void	SetInitCameraPose (const math::Pose3d &_pose)
	Set the initial user camera pose. More...

void	SetModel (const std::string &_model)
	Set the model to hover over the scene. More...

void	SetModelPath (const std::string &_filePath)
	Set the path to the model to hover over the scene. More...

void	SetMoveTo (const std::string &_target)
	Move the user camera to move to the speficied target. More...

void	SetMoveToPose (const math::Pose3d &_pose)
	Set the world pose of the camera. More...

void	SetRecordVideo (bool _record, const std::string &_format, const std::string &_savePath)
	Set whether to record video. More...

void	SetRecordVideoBitrate (unsigned int _bitrate)
	Set video recorder bitrate in bps. More...

void	SetRecordVideoLockstep (bool _lockstep)
	Set whether to record video in lockstep mode. More...

void	SetRecordVideoUseSimTime (bool _useSimTime)
	Set whether to record video using sim time as timestamp. More...

void	SetRPYSnap (const math::Vector3d &_rpy)
	Set the RPY snap values. More...

void	SetScaleSnap (const math::Vector3d &_scale)
	Set the scale snap values. More...

void	SetTransformMode (const std::string &_mode)
	Set the transform mode. More...

void	SetViewAngle (const math::Vector3d &_direction)
	Set the viewing angle of the camera. More...

void	SetViewCollisionsTarget (const std::string &_target)
	View collisions of the specified target. More...

void	SetViewCOMTarget (const std::string &_target)
	View center of mass of the specified target. More...

void	SetViewController (const std::string &_viewController)
	Set camera view controller. More...

void	SetViewInertiaTarget (const std::string &_target)
	View inertia of the specified target. More...

void	SetViewJointsTarget (const std::string &_target)
	View joints of the specified target. More...

void	SetViewTransparentTarget (const std::string &_target)
	View the specified target as transparent. More...

void	SetViewWireframesTarget (const std::string &_target)
	View wireframes of the specified target. More...

void	SetXYZSnap (const math::Vector3d &_xyz)
	Set the XYZ snap values. More...

void	SnapPoint (math::Vector3d &_point, math::Vector3d &_snapVals, double _sensitivity=0.4) const
	Snaps a point at intervals of a fixed distance. Currently used to give a snapping behavior when moving models with a mouse. More...

void	TerminateSpawnPreview ()
	Delete the visuals generated while an entity is being spawned. More...

math::Vector3d	XYZSnap () const
	Get the XYZ snap values. More...

Public Attributes
math::Pose3d	cameraPose = math::Pose3d(0, 0, 2, 0, 0.4, 0)
	Initial Camera pose. More...

bool	initialized = false
	True if engine has been initialized;. More...

bool	textureDirty = false
	Flag to indicate texture size has changed. More...

GLuint	textureId
	Render texture id Values is constantly constantly cycled/swapped/changed from a worker thread Don't read this directly. More...

QSize	textureSize = QSize(1024, 1024)
	Render texture size. More...

uint32_t	visibilityMask = 0xFFFFFFFFu
	Camera visibility mask. More...

std::string	worldName
	Name of the world. More...

Detailed Description

Ign-rendering renderer. All ign-rendering calls should be performed inside this class as it makes sure that opengl calls in the underlying render engine do not interfere with QtQuick's opengl render operations. The main Render function will render to an offscreen texture and notify via signal and slots when it's ready to be displayed.

Constructor & Destructor Documentation

◆ IgnRenderer()

IgnRenderer ( )

Constructor.

◆ ~IgnRenderer()

~IgnRenderer ( )

override

Destructor.

Member Function Documentation

◆ CameraPose()

math::Pose3d CameraPose ( ) const

Get the current camera pose.

Returns: Pose of the camera.

◆ ContextMenuRequested

void ContextMenuRequested ( QString _entity )

signal

Signal fired when context menu event is triggered.

◆ Destroy()

void Destroy ( )

Destroy camera associated with this renderer.

◆ FollowOffset()

math::Vector3d FollowOffset ( ) const

Get the camera follow offset position.

Returns: Camera follow offset position.

◆ FollowTarget()

std::string FollowTarget ( ) const

Get the target which the user camera is following.

Returns: Target being followed

◆ FollowTargetChanged

void FollowTargetChanged	(	const std::string &	_target,
		bool	_waitForTarget
	)

signal

When fired, the follow target changed. May not be fired for every target change.

Parameters

[in]	_target	Target to follow
[in]	_waitForTarget	True to continuously look for the target

◆ FollowWorldFrame()

bool FollowWorldFrame ( ) const

Get whether the camera is following the entity in world frame.

Returns: True if follow mode is in world frame, false if local frame

◆ GeneratePreview()

bool GeneratePreview ( const sdf::Root & _sdf )

Generate a preview of a resource.

Parameters

[in] _sdf The SDF to be previewed.

Returns: True on success, false if failure

◆ HandleKeyPress()

void HandleKeyPress ( QKeyEvent * _e )

Handle key press event for snapping.

Parameters

[in] _e The key event to process.

◆ HandleKeyRelease()

void HandleKeyRelease ( QKeyEvent * _e )

Handle key release event for snapping.

Parameters

[in] _e The key event to process.

◆ Initialize()

std::string Initialize ( )

Initialize the render engine.

Returns: Error message if initialization failed. If empty, no errors occurred.

◆ NewHoverEvent()

void NewHoverEvent ( const math::Vector2i & _hoverPos )

New hover event triggered.

Parameters

[in] _hoverPos Mouse hover screen position

◆ NewMouseEvent()

void NewMouseEvent	(	const common::MouseEvent &	_e,
		const math::Vector2d &	_drag = `math::Vector2d::Zero`
	)

New mouse event triggered.

Parameters

[in]	_e	New mouse event
[in]	_drag	Mouse move distance

◆ Render()

void Render ( RenderSync * _renderSync )

Main render function.

Parameters

[in] _renderSync RenderSync to safely synchronize Qt and worker thread (this)

◆ RenderUtil()

class RenderUtil* RenderUtil ( ) const

Set the renderer.

◆ RequestSelectionChange()

void RequestSelectionChange	(	Entity	_selectedEntity,
		bool	_deselectAll,
		bool	_sendEvent
	)

Request entity selection. This queues the selection to be handled later in the render thread.

Parameters

[in]	_selectedEntity	Entity to be selected, or `kNullEntity`.
[in]	_deselectAll	True if all entities should be deselected.
[in]	_sendEvent	True to emit an event to other widgets.

◆ RPYSnap()

math::Vector3d RPYSnap ( ) const

Get the RPY snap values.

Returns: RPY snapping values as a Vector3d

◆ ScaleSnap()

math::Vector3d ScaleSnap ( ) const

Get the scale snap values.

Returns: Scale snapping values as a Vector3d

◆ ScreenToPlane()

math::Vector3d ScreenToPlane ( const math::Vector2i & _screenPos ) const

Retrieve the point on a plane at z = 0 in the 3D scene hit by a ray cast from the given 2D screen coordinates.

Parameters

[in] _screenPos 2D coordinates on the screen, in pixels.

Returns: 3D coordinates of a point in the 3D scene.

◆ ScreenToScene()

math::Vector3d ScreenToScene ( const math::Vector2i & _screenPos ) const

Retrieve the first point on a surface in the 3D scene hit by a ray cast from the given 2D screen coordinates.

Parameters

[in] _screenPos 2D coordinates on the screen, in pixels.

Returns: 3D coordinates of a point in the 3D scene.

◆ SetDropdownMenuEnabled()

void SetDropdownMenuEnabled ( bool _enableDropdownMenu )

Set if the dropdown menu is enabled or disabled.

Parameters

[in] _enableDropdownMenu The boolean to enable or disable the dropdown menu

◆ SetFollowOffset()

void SetFollowOffset ( const math::Vector3d & _offset )

Set the camera follow offset position.

Parameters

[in] _offset Camera follow offset position.

◆ SetFollowPGain()

void SetFollowPGain ( double _gain )

Set the p gain for the camera follow movement.

Parameters

[in] _gain Camera follow p gain.

◆ SetFollowTarget()

void SetFollowTarget	(	const std::string &	_target,
		bool	_waitForTarget = `false`
	)

Move the user camera to follow the speficied target.

Parameters

[in]	_target	Target to follow
[in]	_waitForTarget	True to continuously look for the target to follow. A typical use case is when following a target that is not present on startup but spawned later into simulation

◆ SetFollowWorldFrame()

void SetFollowWorldFrame ( bool _worldFrame )

True to set the camera to follow the target in world frame, false to follow in target's local frame.

Parameters

[in] _worldFrame True to use the world frame.

◆ SetInitCameraPose()

void SetInitCameraPose ( const math::Pose3d & _pose )

Set the initial user camera pose.

Parameters

[in] _pose Pose to set the camera to

◆ SetModel()

void SetModel ( const std::string & _model )

Set the model to hover over the scene.

Parameters

[in] _model Sdf string of the model to load in for the user.

◆ SetModelPath()

void SetModelPath ( const std::string & _filePath )

Set the path to the model to hover over the scene.

Parameters

[in] _filePath Sdf path of the model to load in for the user.

◆ SetMoveTo()

void SetMoveTo ( const std::string & _target )

Move the user camera to move to the speficied target.

Parameters

[in] _target Target to move the camera to

◆ SetMoveToPose()

void SetMoveToPose ( const math::Pose3d & _pose )

Set the world pose of the camera.

Parameters

[in] _pose The world pose to set the camera to.

◆ SetRecordVideo()

void SetRecordVideo	(	bool	_record,
		const std::string &	_format,
		const std::string &	_savePath
	)

Set whether to record video.

Parameters

[in]	_record	True to start video recording, false to stop.
[in]	_format	Video encoding format: "mp4", "ogv"
[in]	_savePath	Path to save the recorded video.

◆ SetRecordVideoBitrate()

void SetRecordVideoBitrate ( unsigned int _bitrate )

Set video recorder bitrate in bps.

Parameters

[in] _bitrate Bit rate to set to

◆ SetRecordVideoLockstep()

void SetRecordVideoLockstep ( bool _lockstep )

Set whether to record video in lockstep mode.

Parameters

[in] _lockstep True to record video in lockstep mode

◆ SetRecordVideoUseSimTime()

void SetRecordVideoUseSimTime ( bool _useSimTime )

Set whether to record video using sim time as timestamp.

Parameters

[in] _useSimTime True record video using sim time

◆ SetRPYSnap()

void SetRPYSnap ( const math::Vector3d & _rpy )

Set the RPY snap values.

Parameters

[in] _rpy The RPY snap values

◆ SetScaleSnap()

void SetScaleSnap ( const math::Vector3d & _scale )

Set the scale snap values.

Parameters

[in] _scale The scale snap values

◆ SetTransformMode()

void SetTransformMode ( const std::string & _mode )

Set the transform mode.

Parameters

[in] _mode New transform mode to set to

◆ SetViewAngle()

void SetViewAngle ( const math::Vector3d & _direction )

Set the viewing angle of the camera.

Parameters

[in] _direction The pose to assume relative to the entit(y/ies). (0, 0, 0) indicates to return the camera back to the home pose originally loaded in from the sdf

◆ SetViewCollisionsTarget()

void SetViewCollisionsTarget ( const std::string & _target )

View collisions of the specified target.

Parameters

[in] _target Target to view collisions

◆ SetViewCOMTarget()

void SetViewCOMTarget ( const std::string & _target )

View center of mass of the specified target.

Parameters

[in] _target Target to view center of mass

◆ SetViewController()

void SetViewController ( const std::string & _viewController )

Set camera view controller.

Parameters

[in] _viewController. Values are "orbit", and "ortho"

◆ SetViewInertiaTarget()

void SetViewInertiaTarget ( const std::string & _target )

View inertia of the specified target.

Parameters

[in] _target Target to view inertia

◆ SetViewJointsTarget()

void SetViewJointsTarget ( const std::string & _target )

View joints of the specified target.

Parameters

[in] _target Target to view joints

◆ SetViewTransparentTarget()

void SetViewTransparentTarget ( const std::string & _target )

View the specified target as transparent.

Parameters

[in] _target Target to view as transparent

◆ SetViewWireframesTarget()

void SetViewWireframesTarget ( const std::string & _target )

View wireframes of the specified target.

Parameters

[in] _target Target to view wireframes

◆ SetXYZSnap()

void SetXYZSnap ( const math::Vector3d & _xyz )

Set the XYZ snap values.

Parameters

[in] _xyz The XYZ snap values

◆ SnapPoint()

void SnapPoint	(	math::Vector3d &	_point,
		math::Vector3d &	_snapVals,
		double	_sensitivity = `0.4`
	)		const

Snaps a point at intervals of a fixed distance. Currently used to give a snapping behavior when moving models with a mouse.

Parameters

[in]	_point	Input point to snap.
[in]	_snapVals	The snapping values to use for each corresponding coordinate in _point
[in]	_sensitivity	Sensitivity of a point snapping, in terms of a percentage of the interval.

◆ TerminateSpawnPreview()

void TerminateSpawnPreview ( )

Delete the visuals generated while an entity is being spawned.

◆ XYZSnap()

math::Vector3d XYZSnap ( ) const

Get the XYZ snap values.

Returns: XYZ snapping values as a Vector3d

Member Data Documentation

◆ cameraPose

math::Pose3d cameraPose = math::Pose3d(0, 0, 2, 0, 0.4, 0)

Initial Camera pose.

◆ initialized

bool initialized = false

True if engine has been initialized;.

◆ textureDirty

bool textureDirty = false

Flag to indicate texture size has changed.

◆ textureId

GLuint textureId

Render texture id Values is constantly constantly cycled/swapped/changed from a worker thread Don't read this directly.

◆ textureSize

QSize textureSize = QSize(1024, 1024)

Render texture size.

◆ visibilityMask

uint32_t visibilityMask = 0xFFFFFFFFu

Camera visibility mask.

◆ worldName

std::string worldName

Name of the world.

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

Scene3D.hh

Signals

Public Member Functions

Public Attributes

Detailed Description

Constructor & Destructor Documentation

◆ IgnRenderer()

◆ ~IgnRenderer()

Member Function Documentation

◆ CameraPose()

◆ ContextMenuRequested

◆ Destroy()

◆ FollowOffset()

◆ FollowTarget()

◆ FollowTargetChanged

◆ FollowWorldFrame()

◆ GeneratePreview()

◆ HandleKeyPress()

◆ HandleKeyRelease()

◆ Initialize()

◆ NewHoverEvent()

◆ NewMouseEvent()

◆ Render()

◆ RenderUtil()

◆ RequestSelectionChange()

◆ RPYSnap()

◆ ScaleSnap()

◆ ScreenToPlane()

◆ ScreenToScene()

◆ SetDropdownMenuEnabled()

◆ SetFollowOffset()

◆ SetFollowPGain()

◆ SetFollowTarget()

◆ SetFollowWorldFrame()

◆ SetInitCameraPose()

◆ SetModel()

◆ SetModelPath()

◆ SetMoveTo()

◆ SetMoveToPose()

◆ SetRecordVideo()

◆ SetRecordVideoBitrate()

◆ SetRecordVideoLockstep()

◆ SetRecordVideoUseSimTime()

◆ SetRPYSnap()

◆ SetScaleSnap()

◆ SetTransformMode()

◆ SetViewAngle()

◆ SetViewCollisionsTarget()

◆ SetViewCOMTarget()

◆ SetViewController()

◆ SetViewInertiaTarget()

◆ SetViewJointsTarget()

◆ SetViewTransparentTarget()

◆ SetViewWireframesTarget()

◆ SetXYZSnap()

◆ SnapPoint()

◆ TerminateSpawnPreview()

◆ XYZSnap()

Member Data Documentation

◆ cameraPose

◆ initialized

◆ textureDirty

◆ textureId

◆ textureSize

◆ visibilityMask

◆ worldName