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17 #ifndef GZ_GAZEBO_RENDERUTIL_HH_
18 #define GZ_GAZEBO_RENDERUTIL_HH_
25 #include <sdf/Sensor.hh>
27 #include <gz/sim/config.hh>
28 #include <gz/sim/rendering/Export.hh>
40 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
42 class RenderUtilPrivate;
61 public:
int PendingSensors()
const;
64 public:
void Update();
68 public: rendering::ScenePtr
Scene()
const;
73 public:
void UpdateECM(
const UpdateInfo &_info,
77 public:
void UpdateFromECM(
const UpdateInfo &_info,
90 public:
void SetEngineName(
const std::string &_engineName);
98 public:
void SetHeadlessRendering(
const bool &_headless);
102 public:
bool HeadlessRendering()
const;
106 public:
void SetSceneName(
const std::string &_sceneName);
114 public:
void SetScene(
const rendering::ScenePtr &_scene);
119 public:
void SetBackgroundColor(
const math::Color &_color);
124 public:
void SetAmbientLight(
const math::Color &_ambient);
128 public:
void SetSkyEnabled(
bool _enabled);
131 public:
void ShowGrid();
135 public:
void SetUseCurrentGLContext(
bool _enable);
153 public :
void SetRemoveSensorCb(
158 public:
void ViewTransparent(
const Entity &_entity);
162 public:
void ViewCOM(
const Entity &_entity);
166 public:
void ViewInertia(
const Entity &_entity);
170 public:
void ViewJoints(
const Entity &_entity);
174 public:
void ViewWireframes(
const Entity &_entity);
178 public:
void ViewCollisions(
const Entity &_entity);
191 public: std::chrono::steady_clock::duration SimTime()
const;
195 public:
void SetSelectedEntity(
const rendering::NodePtr &_node);
202 public:
void DeselectAllEntities();
206 public:
void InitRenderEnginePluginPaths();
215 private:
void HideWireboxes(
const Entity &_entity);
219 public:
void SetTransformActive(
bool _active);
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:58
This library is part of the Gazebo project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:66
Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this ...
Definition: gz/sim/rendering/MarkerManager.hh:38
The EventManager is used to send/receive notifications of simulator events.
Definition: gz/sim/EventManager.hh:54
Scene manager class for loading and managing objects in the scene.
Definition: gz/sim/rendering/SceneManager.hh:93
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:38
Definition: gz/sim/rendering/RenderUtil.hh:45
Component< sdf::Scene, class SceneTag, serializers::SceneSerializer > Scene
This component holds scene properties of the world.
Definition: gz/sim/components/Scene.hh:45
Component< NoData, class SensorTag > Sensor
A component that identifies an entity as being a sensor.
Definition: gz/sim/components/Sensor.hh:35