A QQUickItem that manages the render window. More...

#include <Scene3D.hh>

Public Slots
void	OnContextMenuRequested (QString _entity)
	Qt callback when context menu request is received. More...

void	Ready ()
	Slot called when thread is ready to be started. More...

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

Signals
void	openContextMenu (QString _entity)
	Signal fired to open context menu Note that the function name needs to start with lowercase in order for the connection to work on the QML side. More...

Public Member Functions
	RenderWindowItem (QQuickItem *_parent=nullptr)
	Constructor. More...

	~RenderWindowItem () override
	Destructor. More...

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

void	DeselectAllEntities (bool _sendEvent)
	Deselect all the currently selected entities within the RenderUtil class. More...

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

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

void	OnHovered (const gz::math::Vector2i &_hoverPos)
	Called when the mouse hovers to a new position. More...

bool	RendererInitialized () const
	Get whether the renderer is initialized. The renderer is initialized when the context is created and the render thread is started. More...

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

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

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

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

void	SetErrorCb (std::function< void(const QString &)> _cb)
	Set a callback to be called in case there are errors. 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	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. More...

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

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

void	SetMoveToPose (const math::Pose3d &_pose)
	Set the 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 from the user input. More...

void	SetScaleSnap (const math::Vector3d &_scale)
	Set the scale snap values from the user input. 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	SetVisibilityMask (uint32_t _mask)
	Set the user camera visibility mask. More...

void	SetWorldName (const std::string &_name)
	Set the world name. More...

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

void	UpdateSelectedEntity (Entity _entity, bool _sendEvent)
	An update function to apply the rules of selection to the passed in node. The rules are as follows: More...

Protected Member Functions
void	mouseMoveEvent (QMouseEvent *_e) override

void	mousePressEvent (QMouseEvent *_e) override

void	mouseReleaseEvent (QMouseEvent *_e) override

void	wheelEvent (QWheelEvent *_e) override

Detailed Description

A QQUickItem that manages the render window.

Constructor & Destructor Documentation

◆ RenderWindowItem()

RenderWindowItem ( QQuickItem * _parent = nullptr )

explicit

Constructor.

Parameters

[in] _parent Parent item

◆ ~RenderWindowItem()

~RenderWindowItem ( )

override

Destructor.

Member Function Documentation

◆ CameraPose()

math::Pose3d CameraPose ( ) const

Get the user camera pose.

Returns: Pose of the user camera.

◆ DeselectAllEntities()

void DeselectAllEntities ( bool _sendEvent )

Deselect all the currently selected entities within the RenderUtil class.

Parameters

[in] _sendEvent True to notify other widgets. This should be true when the deselection is initiated from this plugin.

◆ 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.

◆ mouseMoveEvent()

void mouseMoveEvent ( QMouseEvent * _e )

overrideprotected

◆ mousePressEvent()

void mousePressEvent ( QMouseEvent * _e )

overrideprotected

◆ mouseReleaseEvent()

void mouseReleaseEvent ( QMouseEvent * _e )

overrideprotected

◆ OnContextMenuRequested

void OnContextMenuRequested ( QString _entity )

slot

Qt callback when context menu request is received.

Parameters

[in] _entity Scoped name of entity.

◆ OnHovered()

void OnHovered ( const gz::math::Vector2i & _hoverPos )

Called when the mouse hovers to a new position.

Parameters

[in] _hoverPos 2D coordinates of the hovered mouse position on the render window.

◆ openContextMenu

void openContextMenu ( QString _entity )

signal

Signal fired to open context menu Note that the function name needs to start with lowercase in order for the connection to work on the QML side.

Parameters

[in] _entity Scoped name of entity.

◆ Ready

void Ready ( )

slot

Slot called when thread is ready to be started.

◆ RendererInitialized()

bool RendererInitialized ( ) const

Get whether the renderer is initialized. The renderer is initialized when the context is created and the render thread is started.

Returns: True if the renderer is initialized.

◆ RenderUtil()

class RenderUtil* RenderUtil ( ) const

Set the renderer.

◆ ScreenToScene()

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

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.

◆ SetCameraPose()

void SetCameraPose ( const math::Pose3d & _pose )

Set the initial user camera pose.

Parameters

[in] _pose Pose to set the camera to

◆ SetDropdownMenuEnabled()

void SetDropdownMenuEnabled ( bool _enableDropdownMenu )

Set if the dropdown menu is enabled or disabled.

Parameters

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

◆ SetErrorCb()

void SetErrorCb ( std::function< void(const QString &)> _cb )

Set a callback to be called in case there are errors.

Parameters

[in] _cb Error callback

◆ 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`
	)

slot

Move the user camera to follow the specified target.

Parameters

[in]	_target	Target to follow
[in]	_waitForTarget	True to continuously look for the target to follow. A typical use case is follow 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.

Parameters

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

◆ SetModelPath()

void SetModelPath ( const std::string & _filePath )

Set the path of the model to hover.

Parameters

[in] _filePath File 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 specified target.

Parameters

[in] _target Target to move the camera to

◆ SetMoveToPose()

void SetMoveToPose ( const math::Pose3d & _pose )

Set the pose of the camera.

Parameters

[in] _pose The new camera pose in the world frame.

◆ 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 from the user input.

Parameters

[in] _rpy The RPY snap values

◆ SetScaleSnap()

void SetScaleSnap ( const math::Vector3d & _scale )

Set the scale snap values from the user input.

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

◆ SetVisibilityMask()

void SetVisibilityMask ( uint32_t _mask )

Set the user camera visibility mask.

Parameters

[in] _mask Visibility mask to set to

◆ SetWorldName()

void SetWorldName ( const std::string & _name )

Set the world name.

Parameters

[in] _name Name of the world to set to.

◆ SetXYZSnap()

void SetXYZSnap ( const math::Vector3d & _xyz )

Set the XYZ snap values from the user input.

Parameters

[in] _xyz The XYZ snap values

◆ UpdateSelectedEntity()

void UpdateSelectedEntity	(	Entity	_entity,
		bool	_sendEvent
	)

An update function to apply the rules of selection to the passed in node. The rules are as follows:

If control is held, append the node to the selected entity list.
If control is not held, deselect all other entities.
If the user is currently in a transform mode, attach the control to the latest selected node and deselect all others. Note that this function emits events to update other widgets.
Parameters

[in] _entity The entity to select.

[in] _sendEvent True to notify other widgets. This should be true when the selection is initiated from this plugin.

◆ wheelEvent()

void wheelEvent ( QWheelEvent * _e )

overrideprotected

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

Scene3D.hh

[in]	_entity	The entity to select.
[in]	_sendEvent	True to notify other widgets. This should be true when the selection is initiated from this plugin.

Public Slots

Signals

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ RenderWindowItem()

◆ ~RenderWindowItem()

Member Function Documentation

◆ CameraPose()

◆ DeselectAllEntities()

◆ HandleKeyPress()

◆ HandleKeyRelease()

◆ mouseMoveEvent()

◆ mousePressEvent()

◆ mouseReleaseEvent()

◆ OnContextMenuRequested

◆ OnHovered()

◆ openContextMenu

◆ Ready

◆ RendererInitialized()

◆ RenderUtil()

◆ ScreenToScene()

◆ SetCameraPose()

◆ SetDropdownMenuEnabled()

◆ SetErrorCb()

◆ SetFollowOffset()

◆ SetFollowPGain()

◆ SetFollowTarget

◆ SetFollowWorldFrame()

◆ SetInitCameraPose()

◆ SetModel()

◆ SetModelPath()

◆ SetMoveTo()

◆ SetMoveToPose()

◆ SetRecordVideo()

◆ SetRecordVideoBitrate()

◆ SetRecordVideoLockstep()

◆ SetRecordVideoUseSimTime()

◆ SetRPYSnap()

◆ SetScaleSnap()

◆ SetTransformMode()

◆ SetViewAngle()

◆ SetViewCollisionsTarget()

◆ SetViewCOMTarget()

◆ SetViewController()

◆ SetViewInertiaTarget()

◆ SetViewJointsTarget()

◆ SetViewTransparentTarget()

◆ SetViewWireframesTarget()

◆ SetVisibilityMask()

◆ SetWorldName()

◆ SetXYZSnap()

◆ UpdateSelectedEntity()

◆ wheelEvent()