Manages a single scene-graph. This class updates scene-wide properties and holds the root scene node. A Scene also serves as a factory for all scene objects. More...

#include <ignition/rendering/Scene.hh>

Public Member Functions
virtual	~Scene ()
	Deconstructor. More...

virtual math::Color	AmbientLight () const =0
	Get the scene ambient light color. More...

virtual math::Color	BackgroundColor () const =0
	Get the scene background color. More...

virtual MaterialPtr	BackgroundMaterial () const =0
	Get the scene background material e.g. a material with skybox cubemap texture. More...

virtual uint8_t	CameraPassCountPerGpuFlush () const =0
	Returns the value set in SetCameraPassCountPerGpuFlush. More...

virtual void	Clear ()=0
	Remove and destroy all objects from the scene graph. This does not completely destroy scene resources, so new objects can be created and added to the scene afterwards. More...

virtual ArrowVisualPtr	CreateArrowVisual ()=0
	Create new arrow visual. A unique ID and name will automatically be assigned to the visual. More...

virtual ArrowVisualPtr	CreateArrowVisual (const std::string &_name)=0
	Create new arrow visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual ArrowVisualPtr	CreateArrowVisual (unsigned int _id)=0
	Create new arrow visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual ArrowVisualPtr	CreateArrowVisual (unsigned int _id, const std::string &_name)=0
	Create new arrow visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual AxisVisualPtr	CreateAxisVisual ()=0
	Create new axis visual. A unique ID and name will automatically be assigned to the visual. More...

virtual AxisVisualPtr	CreateAxisVisual (const std::string &_name)=0
	Create new axis visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual AxisVisualPtr	CreateAxisVisual (unsigned int _id)=0
	Create new axis visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual AxisVisualPtr	CreateAxisVisual (unsigned int _id, const std::string &_name)=0
	Create new axis visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual BoundingBoxCameraPtr	CreateBoundingBoxCamera ()=0
	Create new BoundingBox camera. A unique ID and name will automatically be assigned to the camera. More...

virtual BoundingBoxCameraPtr	CreateBoundingBoxCamera (const std::string &_name)=0
	Create new BoundingBox camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned. More...

virtual BoundingBoxCameraPtr	CreateBoundingBoxCamera (unsigned int _id)=0
	Create new BoundingBox camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned. More...

virtual BoundingBoxCameraPtr	CreateBoundingBoxCamera (unsigned int _id, const std::string &_name)=0
	Create new BoundingBox camera with the given ID & name. If either the given ID or name is already in use, will return NULL. More...

virtual GeometryPtr	CreateBox ()=0
	Create new box geometry. More...

virtual CameraPtr	CreateCamera ()=0
	Create new camera. A unique ID and name will automatically be assigned to the camera. More...

virtual CameraPtr	CreateCamera (const std::string &_name)=0
	Create new camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned. More...

virtual CameraPtr	CreateCamera (unsigned int _id)=0
	Create new camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned. More...

virtual CameraPtr	CreateCamera (unsigned int _id, const std::string &_name)=0
	Create new camera with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual CapsulePtr	CreateCapsule ()=0
	Create new capsule geometry. More...

virtual COMVisualPtr	CreateCOMVisual ()=0
	Create new CoM visual. A unique ID and name will automatically be assigned to the CoM visual. More...

virtual COMVisualPtr	CreateCOMVisual (const std::string &_name)=0
	Create new CoM visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual COMVisualPtr	CreateCOMVisual (unsigned int _id)=0
	Create new CoM visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual COMVisualPtr	CreateCOMVisual (unsigned int _id, const std::string &_name)=0
	Create new CoM visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual GeometryPtr	CreateCone ()=0
	Create new cone geometry. More...

virtual GeometryPtr	CreateCylinder ()=0
	Create new cylinder geometry. More...

virtual DepthCameraPtr	CreateDepthCamera ()=0
	Create new depth camera. A unique ID and name will automatically be assigned to the camera. More...

virtual DepthCameraPtr	CreateDepthCamera (const std::string &_name)=0
	Create new depth camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned. More...

virtual DepthCameraPtr	CreateDepthCamera (unsigned int _id)=0
	Create new depth camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned. More...

virtual DepthCameraPtr	CreateDepthCamera (unsigned int _id, const std::string &_name)=0
	Create new depth camera with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual DirectionalLightPtr	CreateDirectionalLight ()=0
	Create new directional light. A unique ID and name will automatically be assigned to the light. More...

virtual DirectionalLightPtr	CreateDirectionalLight (const std::string &_name)=0
	Create new directional light with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned. More...

virtual DirectionalLightPtr	CreateDirectionalLight (unsigned int _id)=0
	Create new directional light with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned. More...

virtual DirectionalLightPtr	CreateDirectionalLight (unsigned int _id, const std::string &_name)=0
	Create new directional light with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual GizmoVisualPtr	CreateGizmoVisual ()=0
	Create new gizmo visual. A unique ID and name will automatically be assigned to the visual. More...

virtual GizmoVisualPtr	CreateGizmoVisual (const std::string &_name)=0
	Create new gizmo visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual GizmoVisualPtr	CreateGizmoVisual (unsigned int _id)=0
	Create new gizmo visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual GizmoVisualPtr	CreateGizmoVisual (unsigned int _id, const std::string &_name)=0
	Create new gizmo visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual GpuRaysPtr	CreateGpuRays ()=0
	Create new gpu rays caster. A unique ID and name will automatically be assigned to the gpu rays caster. More...

virtual GpuRaysPtr	CreateGpuRays (const std::string &_name)=0
	Create new gpu rays caster with the given name. A unique ID will automatically be assigned to the gpu rays caster. If the given name is already in use, NULL will be returned. More...

virtual GpuRaysPtr	CreateGpuRays (unsigned int _id)=0
	Create new gpu rays caster with the given ID. A unique name will automatically be assigned to the gpu rays caster. If the given ID is already in use, NULL will be returned. More...

virtual GpuRaysPtr	CreateGpuRays (unsigned int _id, const std::string &_name)=0
	Create new gpu rays caster with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual GridPtr	CreateGrid ()=0
	Create new grid geometry. More...

virtual HeightmapPtr	CreateHeightmap (const HeightmapDescriptor &_desc)=0
	Create new heightmap geomerty. The rendering::Heightmap will be created from the given HeightmapDescriptor. More...

virtual InertiaVisualPtr	CreateInertiaVisual ()=0
	Create new inertia visual. A unique ID and name will automatically be assigned to the inertia visual. More...

virtual InertiaVisualPtr	CreateInertiaVisual (const std::string &_name)=0
	Create new inertia visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual InertiaVisualPtr	CreateInertiaVisual (unsigned int _id)=0
	Create new inertia visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual InertiaVisualPtr	CreateInertiaVisual (unsigned int _id, const std::string &_name)=0
	Create new inertia visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual JointVisualPtr	CreateJointVisual ()=0
	Create new joint visual. A unique ID and name will automatically be assigned to the Joint visual. More...

virtual JointVisualPtr	CreateJointVisual (const std::string &_name)=0
	Create new joint visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual JointVisualPtr	CreateJointVisual (unsigned int _id)=0
	Create new joint visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual JointVisualPtr	CreateJointVisual (unsigned int _id, const std::string &_name)=0
	Create new joint visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual LidarVisualPtr	CreateLidarVisual ()=0
	Create new lidar visual. A unique ID and name will automatically be assigned to the lidar visual. More...

virtual LidarVisualPtr	CreateLidarVisual (const std::string &_name)=0
	Create new lidar visual with the given name. A unique ID will automatically be assigned to the lidar visual. If the given name is already in use, NULL will be returned. More...

virtual LidarVisualPtr	CreateLidarVisual (unsigned int _id)=0
	Create new lidar visual with the given ID. A unique name will automatically be assigned to the lidar visual. If the given ID is already in use, NULL will be returned. More...

virtual LidarVisualPtr	CreateLidarVisual (unsigned int _id, const std::string &_name)=0
	Create new lidar visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual LightVisualPtr	CreateLightVisual ()=0
	Create new light visual. A unique ID and name will automatically be assigned to the light visual. More...

virtual LightVisualPtr	CreateLightVisual (const std::string &_name)=0
	Create new light visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual LightVisualPtr	CreateLightVisual (unsigned int _id)=0
	Create new light visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual LightVisualPtr	CreateLightVisual (unsigned int _id, const std::string &_name)=0
	Create new light visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual MarkerPtr	CreateMarker ()=0
	Create new marker geometry. More...

virtual MaterialPtr	CreateMaterial (const common::Material &_material)=0
	Create new material from the reference common::Material. More...

virtual MaterialPtr	CreateMaterial (const std::string &_name="")=0
	Create new material with the given name. Created material will have default properties. More...

virtual MeshPtr	CreateMesh (const common::Mesh *_mesh)=0
	Create new mesh geomerty. The rendering::Mesh will be created from the given common::Mesh. All sub-meshes will be loaded into this created mesh, uncentered. More...

virtual MeshPtr	CreateMesh (const MeshDescriptor &_desc)=0
	Create new mesh geometry. The rendering::Mesh will be created from the given common::Mesh specified in the MeshDescriptor. Sub-meshes will be loaded and centered according to the descriptor. More...

virtual MeshPtr	CreateMesh (const std::string &_meshName)=0
	Create new mesh geomerty. The rendering::Mesh will be created from a common::Mesh retrieved from common::MeshManager using the given mesh name. If no mesh exists by this name, NULL will be returned. All sub-meshes will be loaded into the created mesh, uncentered. More...

virtual ParticleEmitterPtr	CreateParticleEmitter ()=0
	Create new particle emitter. A unique ID and name will automatically be assigned to the visual. More...

virtual ParticleEmitterPtr	CreateParticleEmitter (const std::string &_name)=0
	Create new particle emitter with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual ParticleEmitterPtr	CreateParticleEmitter (unsigned int _id)=0
	Create new particle emitter with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual ParticleEmitterPtr	CreateParticleEmitter (unsigned int _id, const std::string &_name)=0
	Create new particle emitter with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual GeometryPtr	CreatePlane ()=0
	Create new plane geometry. More...

virtual PointLightPtr	CreatePointLight ()=0
	Create new point light. A unique ID and name will automatically be assigned to the light. More...

virtual PointLightPtr	CreatePointLight (const std::string &_name)=0
	Create new point light with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned. More...

virtual PointLightPtr	CreatePointLight (unsigned int _id)=0
	Create new point light with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned. More...

virtual PointLightPtr	CreatePointLight (unsigned int _id, const std::string &_name)=0
	Create new point light with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual RayQueryPtr	CreateRayQuery ()=0
	Create new ray query. More...

virtual RenderTexturePtr	CreateRenderTexture ()=0
	Create new render texture. More...

virtual RenderWindowPtr	CreateRenderWindow ()=0
	Create new render window. This feature is render engine dependent. If the engine does not support attaching to a windowing system then it should behave as a a render texture. More...

virtual SegmentationCameraPtr	CreateSegmentationCamera ()=0
	Create new segmentation camera. A unique ID and name will automatically be assigned to the camera. More...

virtual SegmentationCameraPtr	CreateSegmentationCamera (const std::string &_name)=0
	Create new segmentation camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned. More...

virtual SegmentationCameraPtr	CreateSegmentationCamera (unsigned int _id)=0
	Create new segmentation camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned. More...

virtual SegmentationCameraPtr	CreateSegmentationCamera (unsigned int _id, const std::string &_name)=0
	Create new segmentation camera with the given name and ID. If either the given ID or name is already in use, will return NULL. More...

virtual GeometryPtr	CreateSphere ()=0
	Create new sphere or ellipsoid geometry This method allow to create ellipsoid too, because it can be scaled in 3 dimensions. More...

virtual SpotLightPtr	CreateSpotLight ()=0
	Create new spotlight. A unique ID and name will automatically be assigned to the light. More...

virtual SpotLightPtr	CreateSpotLight (const std::string &_name)=0
	Create new spotlight with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned. More...

virtual SpotLightPtr	CreateSpotLight (unsigned int _id)=0
	Create new spotlight with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned. More...

virtual SpotLightPtr	CreateSpotLight (unsigned int _id, const std::string &_name)=0
	Create new spotlight with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual TextPtr	CreateText ()=0
	Create new text geometry. More...

virtual ThermalCameraPtr	CreateThermalCamera ()=0
	Create new thermal camera. A unique ID and name will automatically be assigned to the camera. More...

virtual ThermalCameraPtr	CreateThermalCamera (const std::string &_name)=0
	Create new thermal camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned. More...

virtual ThermalCameraPtr	CreateThermalCamera (unsigned int _id)=0
	Create new thermal camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned. More...

virtual ThermalCameraPtr	CreateThermalCamera (unsigned int _id, const std::string &_name)=0
	Create new thermal camera with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual VisualPtr	CreateVisual ()=0
	Create new visual. A unique ID and name will automatically be assigned to the visual. More...

virtual VisualPtr	CreateVisual (const std::string &_name)=0
	Create new visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned. More...

virtual VisualPtr	CreateVisual (unsigned int _id)=0
	Create new visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned. More...

virtual VisualPtr	CreateVisual (unsigned int _id, const std::string &_name)=0
	Create new visual with the given name. If either the given ID or name is already in use, NULL will be returned. More...

virtual WireBoxPtr	CreateWireBox ()=0
	Create new wire box geometry. More...

virtual void	Destroy ()=0
	Completely destroy the scene an all its resources. Continued use of this scene after its destruction will result in undefined behavior. More...

virtual void	DestroyLight (LightPtr _light, bool _recursive=false)=0
	Destroy given light. If the given light is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them. More...

virtual void	DestroyLightById (unsigned int _id)=0
	Destroy light with the given id. If no light exists with the given id, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyLightByIndex (unsigned int _index)=0
	Destroy light at the given index. If no light exists at the given index, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyLightByName (const std::string &_name)=0
	Destroy light with the given name. If no light exists with the given name, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyLights ()=0
	Destroy all lights manages by this scene. More...

virtual void	DestroyMaterial (MaterialPtr _material)=0
	Unregister and destroy a material. More...

virtual void	DestroyMaterials ()=0
	Unregister and destroys all registered materials. More...

virtual void	DestroyNode (NodePtr _node, bool _recursive=false)=0
	Destroy given node. If the given node is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them. More...

virtual void	DestroyNodeById (unsigned int _id)=0
	Destroy node with the given id. If no node exists with the given id, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyNodeByIndex (unsigned int _index)=0
	Destroy node at the given index. If no node exists at the given index, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyNodeByName (const std::string &_name)=0
	Destroy node with the given name. If no node exists with the given name, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyNodes ()=0
	Destroy all nodes manages by this scene. More...

virtual void	DestroySensor (SensorPtr _sensor, bool _recursive=false)=0
	Destroy given sensor. If the given sensor is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them. More...

virtual void	DestroySensorById (unsigned int _id)=0
	Destroy sensor with the given id. If no sensor exists with the given id, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroySensorByIndex (unsigned int _index)=0
	Destroy sensor at the given index. If no sensor exists at the given index, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroySensorByName (const std::string &_name)=0
	Destroy sensor with the given name. If no sensor exists with the given name, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroySensors ()=0
	Destroy all sensors manages by this scene. More...

virtual void	DestroyVisual (VisualPtr _node, bool _recursive=false)=0
	Destroy given node. If the given node is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them. consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyVisualById (unsigned int _id)=0
	Destroy node with the given id. If no node exists with the given id, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyVisualByIndex (unsigned int _index)=0
	Destroy node at the given index. If no node exists at the given index, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyVisualByName (const std::string &_name)=0
	Destroy node with the given name. If no node exists with the given name, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed. More...

virtual void	DestroyVisuals ()=0
	Destroy all nodes manages by this scene. More...

virtual RenderEngine *	Engine () const =0
	Get the creating render-engine of the scene. More...

virtual void	Fini ()=0

virtual std::array< math::Color, 4 >	GradientBackgroundColor () const =0
	Get the scene gradient background color. More...

virtual bool	HasLight (ConstLightPtr _light) const =0
	Determine if the given light is managed by this Scene. More...

virtual bool	HasLightId (unsigned int _id) const =0
	Determine if a given light with the given id is managed by this Scene. More...

virtual bool	HasLightName (const std::string &_name) const =0
	Determine if a given light with the given name is managed by this Scene. More...

virtual bool	HasNode (ConstNodePtr _node) const =0
	Determine if the given node is managed by this Scene. More...

virtual bool	HasNodeId (unsigned int _id) const =0
	Determine if a given node with the given id is managed by this Scene. More...

virtual bool	HasNodeName (const std::string &_name) const =0
	Determine if a given node with the given name is managed by this Scene. More...

virtual bool	HasSensor (ConstSensorPtr _sensor) const =0
	Determine if the given sensor is managed by this Scene. More...

virtual bool	HasSensorId (unsigned int _id) const =0
	Determine if a given sensor with the given id is managed by this Scene. More...

virtual bool	HasSensorName (const std::string &_name) const =0
	Determine if a given sensor with the given name is managed by this Scene. More...

virtual bool	HasVisual (ConstVisualPtr _node) const =0
	Determine if the given node is managed by this Scene. More...

virtual bool	HasVisualId (unsigned int _id) const =0
	Determine if a given node with the given id is managed by this Scene. More...

virtual bool	HasVisualName (const std::string &_name) const =0
	Determine if a given node with the given name is managed by this Scene. More...

virtual unsigned int	Id () const =0
	Get the ID of the scene. More...

virtual void	Init ()=0
	Initialize the scene. More...

virtual bool	IsGradientBackgroundColor () const =0
	Whether the scene has a gradient background or not (solid) More...

virtual bool	IsInitialized () const =0
	Determine if the scene is initialized. More...

virtual bool	LegacyAutoGpuFlush () const =0
	Checks if SetCameraPassCountPerGpuFlush is 0. More...

virtual LightPtr	LightById (unsigned int _id) const =0
	Get light with the given id. If no light exists with the given id, NULL will be returned. More...

virtual LightPtr	LightByIndex (unsigned int _index) const =0
	Get light at the given index. If no light exists at the given index, NULL will be returned. More...

virtual LightPtr	LightByName (const std::string &_name) const =0
	Get light with the given name. If no light exists with the given name, NULL will be returned. More...

virtual unsigned int	LightCount () const =0
	Get the number of lights managed by this scene. Note these lights may not be directly or indirectly attached to the root light. More...

virtual void	Load ()=0
	Load scene-specific resources. More...

virtual MaterialPtr	Material (const std::string &_name) const =0
	Get material registered under the given name. If no material is registered under the given name, NULL will be returned. More...

virtual bool	MaterialRegistered (const std::string &_name) const =0
	Determine if a material is registered under the given name. More...

virtual std::string	Name () const =0
	Get the name of the scene. More...

virtual NodePtr	NodeById (unsigned int _id) const =0
	Get node with the given id. If no node exists with the given id, NULL will be returned. More...

virtual NodePtr	NodeByIndex (unsigned int _index) const =0
	Get node at the given index. If no node exists at the given index, NULL will be returned. More...

virtual NodePtr	NodeByName (const std::string &_name) const =0
	Get node with the given name. If no node exists with the given name, NULL will be returned. More...

virtual unsigned int	NodeCount () const =0
	Get the number of nodes managed by this scene. Note these nodes may not be directly or indirectly attached to the root node. More...

virtual void	PostRender ()=0
	Call this function after you're done updating ALL cameras. More...

virtual void	PreRender ()=0
	Prepare scene for rendering. The scene will flushing any scene changes by traversing scene-graph, calling PreRender on all objects. More...

virtual void	RegisterMaterial (const std::string &_name, MaterialPtr _material)=0
	Register a new material under the given name. If the name is already in use, no work will be done. More...

virtual void	RemoveGradientBackgroundColor ()=0
	Remove the scene gradient background color. More...

virtual VisualPtr	RootVisual () const =0
	Get root Visual node. All nodes that are desired to be rendered in a scene should be added to this Visual or one of its ancestors in the scene-graph. Nodes created by this Scene will not be added to the scene by default. More...

virtual SensorPtr	SensorById (unsigned int _id) const =0
	Get sensor with the given id. If no sensor exists with the given id, NULL will be returned. More...

virtual SensorPtr	SensorByIndex (unsigned int _index) const =0
	Get sensor at the given index. If no sensor exists at the given index, NULL will be returned. More...

virtual SensorPtr	SensorByName (const std::string &_name) const =0
	Get sensor with the given name. If no sensor exists with the given name, NULL will be returned. More...

virtual unsigned int	SensorCount () const =0
	Get the number of sensors managed by this scene. Note these sensors may not be directly or indirectly attached to the root sensor. More...

virtual void	SetAmbientLight (const math::Color &_color)=0
	Set the scene ambient light color. More...

virtual void	SetAmbientLight (double _r, double _g, double _b, double _a=1.0)=0
	Set the scene ambient light color. More...

virtual void	SetBackgroundColor (const math::Color &_color)=0
	Set the scene background color. More...

virtual void	SetBackgroundColor (double _r, double _g, double _b, double _a=1.0)=0
	Set the scene background color. More...

virtual void	SetBackgroundMaterial (MaterialPtr _material)=0
	Set the scene background material e.g. a material with skybox cubemap texture. More...

virtual void	SetCameraPassCountPerGpuFlush (uint8_t _numPass)=0
	The ideal render loop is as follows: More...

virtual void	SetGradientBackgroundColor (const std::array< math::Color, 4 > &_colors)=0
	Set a custom gradient background color on top of the regular background. Default should be black. More...

virtual void	SetSimTime (const common::Time &_time)=0
	Set the last simulation update time. More...

virtual void	SetSkyEnabled (bool _enabled)=0
	Enable sky in the scene. More...

virtual void	SetTime (const std::chrono::steady_clock::duration &_time)=0
	Set the last simulation update time. More...

virtual common::Time	SimTime () const =0
	Get the last simulation update time. More...

virtual bool	SkyEnabled () const =0
	Get whether the sky is enabled in the scene. More...

virtual std::chrono::steady_clock::duration	Time () const =0
	Get the last simulation update time. More...

virtual void	UnregisterMaterial (const std::string &_name)=0
	Unregister material registered under the given name. If no material is registered under this name, no work will be done. More...

virtual void	UnregisterMaterials ()=0
	Unregister all registered materials. More...

virtual VisualPtr	VisualAt (const CameraPtr &_camera, const math::Vector2i &_mousePos)=0
	Get a visual at a mouse position. More...

virtual VisualPtr	VisualById (unsigned int _id) const =0
	Get node with the given id. If no node exists with the given id, NULL will be returned. More...

virtual VisualPtr	VisualByIndex (unsigned int _index) const =0
	Get node at the given index. If no node exists at the given index, NULL will be returned. More...

virtual VisualPtr	VisualByName (const std::string &_name) const =0
	Get node with the given name. If no node exists with the given name, NULL will be returned. More...

virtual unsigned int	VisualCount () const =0
	Get the number of nodes managed by this scene. Note these nodes may not be directly or indirectly attached to the root node. More...

Detailed Description

Manages a single scene-graph. This class updates scene-wide properties and holds the root scene node. A Scene also serves as a factory for all scene objects.

Constructor & Destructor Documentation

◆ ~Scene()

virtual ~Scene ( )

inlinevirtual

Deconstructor.

Member Function Documentation

◆ AmbientLight()

virtual math::Color AmbientLight ( ) const

pure virtual

Get the scene ambient light color.

Returns: The scene ambient light color

◆ BackgroundColor()

virtual math::Color BackgroundColor ( ) const

pure virtual

Get the scene background color.

Returns: The scene background color

Referenced by BaseRenderTarget< OgreObject >::BackgroundColor().

◆ BackgroundMaterial()

virtual MaterialPtr BackgroundMaterial ( ) const

pure virtual

Get the scene background material e.g. a material with skybox cubemap texture.

Returns: Material of the background

◆ CameraPassCountPerGpuFlush()

virtual uint8_t CameraPassCountPerGpuFlush ( ) const

pure virtual

Returns the value set in SetCameraPassCountPerGpuFlush.

Returns: Value in range [0; 255]. ALWAYS returns 0 for plugins that ignore SetCameraPassCountPerGpuFlush

◆ Clear()

virtual void Clear ( )

pure virtual

Remove and destroy all objects from the scene graph. This does not completely destroy scene resources, so new objects can be created and added to the scene afterwards.

◆ CreateArrowVisual() [1/4]

virtual ArrowVisualPtr CreateArrowVisual ( )

pure virtual

Create new arrow visual. A unique ID and name will automatically be assigned to the visual.

Returns: The created arrow visual

Referenced by BaseJointVisual< Ogre2Visual >::CreateAxis(), and BaseAxisVisual< Ogre2Visual >::Init().

◆ CreateArrowVisual() [2/4]

virtual ArrowVisualPtr CreateArrowVisual ( const std::string & _name )

pure virtual

Create new arrow visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new arrow visual

Returns: The created arrow visual

◆ CreateArrowVisual() [3/4]

virtual ArrowVisualPtr CreateArrowVisual ( unsigned int _id )

pure virtual

Create new arrow visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new arrow visual

Returns: The created arrow visual

◆ CreateArrowVisual() [4/4]

virtual ArrowVisualPtr CreateArrowVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new arrow visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new arrow visual
[in]	_name	Name of the new arrow visual

Returns: The created arrow visual

◆ CreateAxisVisual() [1/4]

virtual AxisVisualPtr CreateAxisVisual ( )

pure virtual

Create new axis visual. A unique ID and name will automatically be assigned to the visual.

Returns: The created axis visual

Referenced by BaseJointVisual< Ogre2Visual >::Init().

◆ CreateAxisVisual() [2/4]

virtual AxisVisualPtr CreateAxisVisual ( const std::string & _name )

pure virtual

Create new axis visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new axis visual

Returns: The created axis visual

◆ CreateAxisVisual() [3/4]

virtual AxisVisualPtr CreateAxisVisual ( unsigned int _id )

pure virtual

Create new axis visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new axis visual

Returns: The created axis visual

◆ CreateAxisVisual() [4/4]

virtual AxisVisualPtr CreateAxisVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new axis visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new axis visual
[in]	_name	Name of the new axis visual

Returns: The created axis visual

◆ CreateBoundingBoxCamera() [1/4]

virtual BoundingBoxCameraPtr CreateBoundingBoxCamera ( )

pure virtual

Create new BoundingBox camera. A unique ID and name will automatically be assigned to the camera.

Returns: The created camera

◆ CreateBoundingBoxCamera() [2/4]

virtual BoundingBoxCameraPtr CreateBoundingBoxCamera ( const std::string & _name )

pure virtual

Create new BoundingBox camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new camera

Returns: The created camera

◆ CreateBoundingBoxCamera() [3/4]

virtual BoundingBoxCameraPtr CreateBoundingBoxCamera ( unsigned int _id )

pure virtual

Create new BoundingBox camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new camera

Returns: The created camera

◆ CreateBoundingBoxCamera() [4/4]

virtual BoundingBoxCameraPtr CreateBoundingBoxCamera	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new BoundingBox camera with the given ID & name. If either the given ID or name is already in use, will return NULL.

Parameters

[in]	_id	ID of the new camera
[in]	_name	Name of the new camera

Returns: The created camera

◆ CreateBox()

virtual GeometryPtr CreateBox ( )

pure virtual

Create new box geometry.

Returns: The created box

◆ CreateCamera() [1/4]

virtual CameraPtr CreateCamera ( )

pure virtual

Create new camera. A unique ID and name will automatically be assigned to the camera.

Returns: The created camera

◆ CreateCamera() [2/4]

virtual CameraPtr CreateCamera ( const std::string & _name )

pure virtual

Create new camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new camera

Returns: The created camera

◆ CreateCamera() [3/4]

virtual CameraPtr CreateCamera ( unsigned int _id )

pure virtual

Create new camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new camera

Returns: The created camera

◆ CreateCamera() [4/4]

virtual CameraPtr CreateCamera	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new camera with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new camera
[in]	_name	Name of the new camera

Returns: The created camera

◆ CreateCapsule()

virtual CapsulePtr CreateCapsule ( )

pure virtual

Create new capsule geometry.

Returns: The created capsule

Referenced by BaseCapsule< OgreGeometry >::Clone().

◆ CreateCOMVisual() [1/4]

virtual COMVisualPtr CreateCOMVisual ( )

pure virtual

Create new CoM visual. A unique ID and name will automatically be assigned to the CoM visual.

Returns: The created CoM visual

◆ CreateCOMVisual() [2/4]

virtual COMVisualPtr CreateCOMVisual ( const std::string & _name )

pure virtual

Create new CoM visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new CoM visual

Returns: The created CoM visual

◆ CreateCOMVisual() [3/4]

virtual COMVisualPtr CreateCOMVisual ( unsigned int _id )

pure virtual

Create new CoM visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new CoM visual

Returns: The created CoM visual

◆ CreateCOMVisual() [4/4]

virtual COMVisualPtr CreateCOMVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new CoM visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new CoM visual
[in]	_name	Name of the new CoM visual

Returns: The created CoM visual

◆ CreateCone()

virtual GeometryPtr CreateCone ( )

pure virtual

Create new cone geometry.

Returns: The created cone

◆ CreateCylinder()

virtual GeometryPtr CreateCylinder ( )

pure virtual

Create new cylinder geometry.

Returns: The created cylinder

◆ CreateDepthCamera() [1/4]

virtual DepthCameraPtr CreateDepthCamera ( )

pure virtual

Create new depth camera. A unique ID and name will automatically be assigned to the camera.

Returns: The created camera

◆ CreateDepthCamera() [2/4]

virtual DepthCameraPtr CreateDepthCamera ( const std::string & _name )

pure virtual

Create new depth camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new camera

Returns: The created camera

◆ CreateDepthCamera() [3/4]

virtual DepthCameraPtr CreateDepthCamera ( unsigned int _id )

pure virtual

Create new depth camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new camera

Returns: The created camera

◆ CreateDepthCamera() [4/4]

virtual DepthCameraPtr CreateDepthCamera	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new depth camera with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new camera
[in]	_name	Name of the new camera

Returns: The created camera

◆ CreateDirectionalLight() [1/4]

virtual DirectionalLightPtr CreateDirectionalLight ( )

pure virtual

Create new directional light. A unique ID and name will automatically be assigned to the light.

Returns: The created light

◆ CreateDirectionalLight() [2/4]

virtual DirectionalLightPtr CreateDirectionalLight ( const std::string & _name )

pure virtual

Create new directional light with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new light

Returns: The created light

◆ CreateDirectionalLight() [3/4]

virtual DirectionalLightPtr CreateDirectionalLight ( unsigned int _id )

pure virtual

Create new directional light with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new light

Returns: The created light

◆ CreateDirectionalLight() [4/4]

virtual DirectionalLightPtr CreateDirectionalLight	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new directional light with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new light
[in]	_name	Name of the new light

Returns: The created light

◆ CreateGizmoVisual() [1/4]

virtual GizmoVisualPtr CreateGizmoVisual ( )

pure virtual

Create new gizmo visual. A unique ID and name will automatically be assigned to the visual.

Returns: The created gizmo visual

◆ CreateGizmoVisual() [2/4]

virtual GizmoVisualPtr CreateGizmoVisual ( const std::string & _name )

pure virtual

Create new gizmo visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new gizmo visual

Returns: The created gizmo visual

◆ CreateGizmoVisual() [3/4]

virtual GizmoVisualPtr CreateGizmoVisual ( unsigned int _id )

pure virtual

Create new gizmo visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new gizmo visual

Returns: The created gizmo visual

◆ CreateGizmoVisual() [4/4]

virtual GizmoVisualPtr CreateGizmoVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new gizmo visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new gizmo visual
[in]	_name	Name of the new gizmo visual

Returns: The created gizmo visual

◆ CreateGpuRays() [1/4]

virtual GpuRaysPtr CreateGpuRays ( )

pure virtual

Create new gpu rays caster. A unique ID and name will automatically be assigned to the gpu rays caster.

Returns: The created gpu rays caster

◆ CreateGpuRays() [2/4]

virtual GpuRaysPtr CreateGpuRays ( const std::string & _name )

pure virtual

Create new gpu rays caster with the given name. A unique ID will automatically be assigned to the gpu rays caster. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new gpu rays caster

Returns: The created gpu ray caster

◆ CreateGpuRays() [3/4]

virtual GpuRaysPtr CreateGpuRays ( unsigned int _id )

pure virtual

Create new gpu rays caster with the given ID. A unique name will automatically be assigned to the gpu rays caster. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new gpu rays caster

Returns: The created gpu rays caster

◆ CreateGpuRays() [4/4]

virtual GpuRaysPtr CreateGpuRays	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new gpu rays caster with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the gpu ray caster
[in]	_name	Name of the new gpu ray caster

Returns: The created Gpu ray caster

◆ CreateGrid()

virtual GridPtr CreateGrid ( )

pure virtual

Create new grid geometry.

Returns: The created grid

◆ CreateHeightmap()

virtual HeightmapPtr CreateHeightmap ( const HeightmapDescriptor & _desc )

pure virtual

Create new heightmap geomerty. The rendering::Heightmap will be created from the given HeightmapDescriptor.

Parameters

[in] _desc Data about the heightmap

Returns: The created heightmap

◆ CreateInertiaVisual() [1/4]

virtual InertiaVisualPtr CreateInertiaVisual ( )

pure virtual

Create new inertia visual. A unique ID and name will automatically be assigned to the inertia visual.

Returns: The created inertia visual

◆ CreateInertiaVisual() [2/4]

virtual InertiaVisualPtr CreateInertiaVisual ( const std::string & _name )

pure virtual

Create new inertia visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new inertia visual

Returns: The created light visual

◆ CreateInertiaVisual() [3/4]

virtual InertiaVisualPtr CreateInertiaVisual ( unsigned int _id )

pure virtual

Create new inertia visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new inertia visual

Returns: The created light visual

◆ CreateInertiaVisual() [4/4]

virtual InertiaVisualPtr CreateInertiaVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new inertia visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new inertia visual
[in]	_name	Name of the new inertia visual

Returns: The created inertia visual

◆ CreateJointVisual() [1/4]

virtual JointVisualPtr CreateJointVisual ( )

pure virtual

Create new joint visual. A unique ID and name will automatically be assigned to the Joint visual.

Returns: The created Joint visual

Referenced by BaseJointVisual< Ogre2Visual >::CreateParentAxis().

◆ CreateJointVisual() [2/4]

virtual JointVisualPtr CreateJointVisual ( const std::string & _name )

pure virtual

Create new joint visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new Joint visual

Returns: The created Joint visual

◆ CreateJointVisual() [3/4]

virtual JointVisualPtr CreateJointVisual ( unsigned int _id )

pure virtual

Create new joint visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new Joint visual

Returns: The created Joint visual

◆ CreateJointVisual() [4/4]

virtual JointVisualPtr CreateJointVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new joint visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new Joint visual
[in]	_name	Name of the new Joint visual

Returns: The created Joint visual

◆ CreateLidarVisual() [1/4]

virtual LidarVisualPtr CreateLidarVisual ( )

pure virtual

Create new lidar visual. A unique ID and name will automatically be assigned to the lidar visual.

Returns: The created lidar visual

◆ CreateLidarVisual() [2/4]

virtual LidarVisualPtr CreateLidarVisual ( const std::string & _name )

pure virtual

Create new lidar visual with the given name. A unique ID will automatically be assigned to the lidar visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new lidar visual

Returns: The created lidar visual

◆ CreateLidarVisual() [3/4]

virtual LidarVisualPtr CreateLidarVisual ( unsigned int _id )

pure virtual

Create new lidar visual with the given ID. A unique name will automatically be assigned to the lidar visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new lidar visual

Returns: The created lidar visual

◆ CreateLidarVisual() [4/4]

virtual LidarVisualPtr CreateLidarVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new lidar visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the lidar visual.
[in]	_name	Name of the new lidar visual.

Returns: The created lidar visual

◆ CreateLightVisual() [1/4]

virtual LightVisualPtr CreateLightVisual ( )

pure virtual

Create new light visual. A unique ID and name will automatically be assigned to the light visual.

Returns: The created light visual

◆ CreateLightVisual() [2/4]

virtual LightVisualPtr CreateLightVisual ( const std::string & _name )

pure virtual

Create new light visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new light visual

Returns: The created light visual

◆ CreateLightVisual() [3/4]

virtual LightVisualPtr CreateLightVisual ( unsigned int _id )

pure virtual

Create new light visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new light visual

Returns: The created light visual

◆ CreateLightVisual() [4/4]

virtual LightVisualPtr CreateLightVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new light visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new light visual
[in]	_name	Name of the new light visual

Returns: The created light visual

◆ CreateMarker()

virtual MarkerPtr CreateMarker ( )

pure virtual

Create new marker geometry.

Returns: The created marker

◆ CreateMaterial() [1/2]

virtual MaterialPtr CreateMaterial ( const common::Material & _material )

pure virtual

Create new material from the reference common::Material.

Parameters

[in] _material Reference material

Returns: The created material

◆ CreateMaterial() [2/2]

virtual MaterialPtr CreateMaterial ( const std::string & _name = "" )

pure virtual

Create new material with the given name. Created material will have default properties.

Parameters

[in] _name Name for the new material.

Returns: The created material

Referenced by BaseGizmoVisual< Ogre2Visual >::CreateMaterials(), and BaseLidarVisual< Ogre2Visual >::CreateMaterials().

◆ CreateMesh() [1/3]

virtual MeshPtr CreateMesh ( const common::Mesh * _mesh )

pure virtual

Create new mesh geomerty. The rendering::Mesh will be created from the given common::Mesh. All sub-meshes will be loaded into this created mesh, uncentered.

Parameters

[in] _mesh Reference mesh

Returns: The created mesh

◆ CreateMesh() [2/3]

virtual MeshPtr CreateMesh ( const MeshDescriptor & _desc )

pure virtual

Create new mesh geometry. The rendering::Mesh will be created from the given common::Mesh specified in the MeshDescriptor. Sub-meshes will be loaded and centered according to the descriptor.

Parameters

[in] _desc Descriptor of the mesh to load

Returns: The created mesh

◆ CreateMesh() [3/3]

virtual MeshPtr CreateMesh ( const std::string & _meshName )

pure virtual

Create new mesh geomerty. The rendering::Mesh will be created from a common::Mesh retrieved from common::MeshManager using the given mesh name. If no mesh exists by this name, NULL will be returned. All sub-meshes will be loaded into the created mesh, uncentered.

Parameters

[in] _meshName Name of the reference mesh

Returns: The created mesh

Referenced by BaseMesh< OgreGeometry >::Clone().

◆ CreateParticleEmitter() [1/4]

virtual ParticleEmitterPtr CreateParticleEmitter ( )

pure virtual

Create new particle emitter. A unique ID and name will automatically be assigned to the visual.

Returns: The created particle emitter

◆ CreateParticleEmitter() [2/4]

virtual ParticleEmitterPtr CreateParticleEmitter ( const std::string & _name )

pure virtual

Create new particle emitter with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new particle emitter

Returns: The created particle emitter

◆ CreateParticleEmitter() [3/4]

virtual ParticleEmitterPtr CreateParticleEmitter ( unsigned int _id )

pure virtual

Create new particle emitter with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new particle emitter

Returns: The created particle emitter

◆ CreateParticleEmitter() [4/4]

virtual ParticleEmitterPtr CreateParticleEmitter	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new particle emitter with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new particle emitter
[in]	_name	Name of the new particle emitter

Returns: The created particle emitter

◆ CreatePlane()

virtual GeometryPtr CreatePlane ( )

pure virtual

Create new plane geometry.

Returns: The created plane

◆ CreatePointLight() [1/4]

virtual PointLightPtr CreatePointLight ( )

pure virtual

Create new point light. A unique ID and name will automatically be assigned to the light.

Returns: The created light

◆ CreatePointLight() [2/4]

virtual PointLightPtr CreatePointLight ( const std::string & _name )

pure virtual

Create new point light with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new light

Returns: The created light

◆ CreatePointLight() [3/4]

virtual PointLightPtr CreatePointLight ( unsigned int _id )

pure virtual

Create new point light with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new light

Returns: The created light

◆ CreatePointLight() [4/4]

virtual PointLightPtr CreatePointLight	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new point light with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new light
[in]	_name	Name of the new light

Returns: The created light

◆ CreateRayQuery()

virtual RayQueryPtr CreateRayQuery ( )

pure virtual

Create new ray query.

Returns: The created ray query

◆ CreateRenderTexture()

virtual RenderTexturePtr CreateRenderTexture ( )

pure virtual

Create new render texture.

Returns: The created render texture

◆ CreateRenderWindow()

virtual RenderWindowPtr CreateRenderWindow ( )

pure virtual

Create new render window. This feature is render engine dependent. If the engine does not support attaching to a windowing system then it should behave as a a render texture.

Returns: The created render window

◆ CreateSegmentationCamera() [1/4]

virtual SegmentationCameraPtr CreateSegmentationCamera ( )

pure virtual

Create new segmentation camera. A unique ID and name will automatically be assigned to the camera.

Returns: The created camera

◆ CreateSegmentationCamera() [2/4]

virtual SegmentationCameraPtr CreateSegmentationCamera ( const std::string & _name )

pure virtual

Create new segmentation camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new camera

Returns: The created camera

◆ CreateSegmentationCamera() [3/4]

virtual SegmentationCameraPtr CreateSegmentationCamera ( unsigned int _id )

pure virtual

Create new segmentation camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new camera

Returns: The created camera

◆ CreateSegmentationCamera() [4/4]

virtual SegmentationCameraPtr CreateSegmentationCamera	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new segmentation camera with the given name and ID. If either the given ID or name is already in use, will return NULL.

Parameters

[in]	_id	ID of the new camera
[in]	_name	Name of the new camera

Returns: The created camera

◆ CreateSphere()

virtual GeometryPtr CreateSphere ( )

pure virtual

Create new sphere or ellipsoid geometry This method allow to create ellipsoid too, because it can be scaled in 3 dimensions.

Returns: The created sphere

◆ CreateSpotLight() [1/4]

virtual SpotLightPtr CreateSpotLight ( )

pure virtual

Create new spotlight. A unique ID and name will automatically be assigned to the light.

Returns: The created light

◆ CreateSpotLight() [2/4]

virtual SpotLightPtr CreateSpotLight ( const std::string & _name )

pure virtual

Create new spotlight with the given name. A unique ID will automatically be assigned to the light. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new light

Returns: The created light

◆ CreateSpotLight() [3/4]

virtual SpotLightPtr CreateSpotLight ( unsigned int _id )

pure virtual

Create new spotlight with the given ID. A unique name will automatically be assigned to the light. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new light

Returns: The created light

◆ CreateSpotLight() [4/4]

virtual SpotLightPtr CreateSpotLight	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new spotlight with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new light
[in]	_name	Name of the new light

Returns: The created light

◆ CreateText()

virtual TextPtr CreateText ( )

pure virtual

Create new text geometry.

Returns: The created text

◆ CreateThermalCamera() [1/4]

virtual ThermalCameraPtr CreateThermalCamera ( )

pure virtual

Create new thermal camera. A unique ID and name will automatically be assigned to the camera.

Returns: The created camera

◆ CreateThermalCamera() [2/4]

virtual ThermalCameraPtr CreateThermalCamera ( const std::string & _name )

pure virtual

Create new thermal camera with the given name. A unique ID will automatically be assigned to the camera. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new camera

Returns: The created camera

◆ CreateThermalCamera() [3/4]

virtual ThermalCameraPtr CreateThermalCamera ( unsigned int _id )

pure virtual

Create new thermal camera with the given ID. A unique name will automatically be assigned to the camera. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new camera

Returns: The created camera

◆ CreateThermalCamera() [4/4]

virtual ThermalCameraPtr CreateThermalCamera	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new thermal camera with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new camera
[in]	_name	Name of the new camera

Returns: The created camera

◆ CreateVisual() [1/4]

virtual VisualPtr CreateVisual ( )

pure virtual

Create new visual. A unique ID and name will automatically be assigned to the visual.

Returns: The created visual

Referenced by BaseGizmoVisual< Ogre2Visual >::CreateRotationVisual(), BaseGizmoVisual< Ogre2Visual >::CreateScaleVisual(), BaseGizmoVisual< Ogre2Visual >::CreateTranslationVisual(), and BaseArrowVisual< Ogre2Visual >::Init().

◆ CreateVisual() [2/4]

virtual VisualPtr CreateVisual ( const std::string & _name )

pure virtual

Create new visual with the given name. A unique ID will automatically be assigned to the visual. If the given name is already in use, NULL will be returned.

Parameters

[in] _name Name of the new visual

Returns: The created visual

◆ CreateVisual() [3/4]

virtual VisualPtr CreateVisual ( unsigned int _id )

pure virtual

Create new visual with the given ID. A unique name will automatically be assigned to the visual. If the given ID is already in use, NULL will be returned.

Parameters

[in] _id ID of the new visual

Returns: The created visual

◆ CreateVisual() [4/4]

virtual VisualPtr CreateVisual	(	unsigned int	_id,
		const std::string &	_name
	)

pure virtual

Create new visual with the given name. If either the given ID or name is already in use, NULL will be returned.

Parameters

[in]	_id	ID of the new visual
[in]	_name	Name of the new visual

Returns: The created visual

◆ CreateWireBox()

virtual WireBoxPtr CreateWireBox ( )

pure virtual

Create new wire box geometry.

Returns: The created wire box

◆ Destroy()

virtual void Destroy ( )

pure virtual

Completely destroy the scene an all its resources. Continued use of this scene after its destruction will result in undefined behavior.

◆ DestroyLight()

virtual void DestroyLight	(	LightPtr	_light,
		bool	_recursive = `false`
	)

pure virtual

Destroy given light. If the given light is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them.

Parameters

[in]	_light	Light pointer to destroy
[in]	_recursive	True to recursively destroy the node and its children, false to destroy only this node and detach the children

◆ DestroyLightById()

virtual void DestroyLightById ( unsigned int _id )

pure virtual

Destroy light with the given id. If no light exists with the given id, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _id ID of the light to destroy

◆ DestroyLightByIndex()

virtual void DestroyLightByIndex ( unsigned int _index )

pure virtual

Destroy light at the given index. If no light exists at the given index, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _index Index of the light to destroy

◆ DestroyLightByName()

virtual void DestroyLightByName ( const std::string & _name )

pure virtual

Destroy light with the given name. If no light exists with the given name, no work will be done. All children of the light will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _name Name of the light to destroy

◆ DestroyLights()

virtual void DestroyLights ( )

pure virtual

Destroy all lights manages by this scene.

◆ DestroyMaterial()

virtual void DestroyMaterial ( MaterialPtr _material )

pure virtual

Unregister and destroy a material.

Parameters

[in] _material Material to be unregistered and destroyed

Referenced by BaseMesh< OgreGeometry >::Destroy(), BaseSubMesh< OgreObject >::Destroy(), BaseMesh< OgreGeometry >::SetMaterial(), and BaseSubMesh< OgreObject >::SetMaterial().

◆ DestroyMaterials()

virtual void DestroyMaterials ( )

pure virtual

Unregister and destroys all registered materials.

◆ DestroyNode()

virtual void DestroyNode	(	NodePtr	_node,
		bool	_recursive = `false`
	)

pure virtual

Destroy given node. If the given node is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them.

Parameters

[in]	_node	Node pointer to destroy
[in]	_recursive	True to recursively destroy the node and its children, false to destroy only this node and detach the children

◆ DestroyNodeById()

virtual void DestroyNodeById ( unsigned int _id )

pure virtual

Destroy node with the given id. If no node exists with the given id, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _id ID of the node to destroy

◆ DestroyNodeByIndex()

virtual void DestroyNodeByIndex ( unsigned int _index )

pure virtual

Destroy node at the given index. If no node exists at the given index, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _index Index of the node to destroy

◆ DestroyNodeByName()

virtual void DestroyNodeByName ( const std::string & _name )

pure virtual

Destroy node with the given name. If no node exists with the given name, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _name Name of the node to destroy

◆ DestroyNodes()

virtual void DestroyNodes ( )

pure virtual

Destroy all nodes manages by this scene.

◆ DestroySensor()

virtual void DestroySensor	(	SensorPtr	_sensor,
		bool	_recursive = `false`
	)

pure virtual

Destroy given sensor. If the given sensor is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them.

Parameters

[in]	_sensor	Sensor pointer to destroy
[in]	_recursive	True to recursively destroy the node and its children, false to destroy only this node and detach the children

◆ DestroySensorById()

virtual void DestroySensorById ( unsigned int _id )

pure virtual

Destroy sensor with the given id. If no sensor exists with the given id, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _id ID of the sensor to destroy

◆ DestroySensorByIndex()

virtual void DestroySensorByIndex ( unsigned int _index )

pure virtual

Destroy sensor at the given index. If no sensor exists at the given index, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _index Index of the sensor to destroy

◆ DestroySensorByName()

virtual void DestroySensorByName ( const std::string & _name )

pure virtual

Destroy sensor with the given name. If no sensor exists with the given name, no work will be done. All children of the sensor will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _name Name of the sensor to destroy

◆ DestroySensors()

virtual void DestroySensors ( )

pure virtual

Destroy all sensors manages by this scene.

◆ DestroyVisual()

virtual void DestroyVisual	(	VisualPtr	_node,
		bool	_recursive = `false`
	)

pure virtual

Destroy given node. If the given node is not managed by this scene, no work will be done. Depending on the _recursive argument, this function will either detach all child nodes from the scene graph or recursively destroy them. consequently be detached from the scene graph, but not destroyed.

Parameters

[in]	_node	Visual pointer to destroy
[in]	_recursive	True to recursively destroy the node and its children, false to destroy only this node and detach the children

◆ DestroyVisualById()

virtual void DestroyVisualById ( unsigned int _id )

pure virtual

Destroy node with the given id. If no node exists with the given id, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _id ID of the node to destroy

◆ DestroyVisualByIndex()

virtual void DestroyVisualByIndex ( unsigned int _index )

pure virtual

Destroy node at the given index. If no node exists at the given index, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _index Index of the node to destroy

◆ DestroyVisualByName()

virtual void DestroyVisualByName ( const std::string & _name )

pure virtual

Destroy node with the given name. If no node exists with the given name, no work will be done. All children of the node will consequently be detached from the scene graph, but not destroyed.

Parameters

[in] _name Name of the node to destroy

◆ DestroyVisuals()

virtual void DestroyVisuals ( )

pure virtual

Destroy all nodes manages by this scene.

◆ Engine()

virtual RenderEngine* Engine ( ) const

pure virtual

Get the creating render-engine of the scene.

Returns: The creating render-engine

Referenced by BaseCamera< OgreSensor >::CreateRenderWindow(), BaseMesh< OgreGeometry >::SetSkeletonWeights(), BaseVisual< OgreNode >::SetVisible(), and BaseVisual< OgreNode >::SetWireframe().

◆ Fini()

virtual void Fini ( )

pure virtual

◆ GradientBackgroundColor()

virtual std::array<math::Color, 4> GradientBackgroundColor ( ) const

pure virtual

Get the scene gradient background color.

Returns: The scene gradient background color

See also: bool IsGradientBackgroundColor() const

◆ HasLight()

virtual bool HasLight ( ConstLightPtr _light ) const

pure virtual

Determine if the given light is managed by this Scene.

Parameters

[in] _light Light in question

Returns: True if a light is managed by this scene

◆ HasLightId()

virtual bool HasLightId ( unsigned int _id ) const

pure virtual

Determine if a given light with the given id is managed by this Scene.

Parameters

[in] _id ID of the light in question

Returns: True if a light is managed by this scene

◆ HasLightName()

virtual bool HasLightName ( const std::string & _name ) const

pure virtual

Determine if a given light with the given name is managed by this Scene.

Parameters

[in] _name Name of the light in question

Returns: True if a light is managed by this scene

◆ HasNode()

virtual bool HasNode ( ConstNodePtr _node ) const

pure virtual

Determine if the given node is managed by this Scene.

Parameters

[in] _node Node in question

Returns: True if a node is managed by this scene

◆ HasNodeId()

virtual bool HasNodeId ( unsigned int _id ) const

pure virtual

Determine if a given node with the given id is managed by this Scene.

Parameters

[in] _id ID of the node in question

Returns: True if a node is managed by this scene

◆ HasNodeName()

virtual bool HasNodeName ( const std::string & _name ) const

pure virtual

Determine if a given node with the given name is managed by this Scene.

Parameters

[in] _name Name of the node in question

Returns: True if a node is managed by this scene

◆ HasSensor()

virtual bool HasSensor ( ConstSensorPtr _sensor ) const

pure virtual

Determine if the given sensor is managed by this Scene.

Parameters

[in] _sensor Sensor in question

Returns: True if a sensor is managed by this scene

◆ HasSensorId()

virtual bool HasSensorId ( unsigned int _id ) const

pure virtual

Determine if a given sensor with the given id is managed by this Scene.

Parameters

[in] _id ID of the sensor in question

Returns: True if a sensor is managed by this scene

◆ HasSensorName()

virtual bool HasSensorName ( const std::string & _name ) const

pure virtual

Determine if a given sensor with the given name is managed by this Scene.

Parameters

[in] _name Name of the sensor in question

Returns: True if a sensor is managed by this scene

◆ HasVisual()

virtual bool HasVisual ( ConstVisualPtr _node ) const

pure virtual

Determine if the given node is managed by this Scene.

Parameters

[in] _node Visual in question

Returns: True if a node is managed by this scene

◆ HasVisualId()

virtual bool HasVisualId ( unsigned int _id ) const

pure virtual

Determine if a given node with the given id is managed by this Scene.

Parameters

[in] _id ID of the node in question

Returns: True if a node is managed by this scene

◆ HasVisualName()

virtual bool HasVisualName ( const std::string & _name ) const

pure virtual

Determine if a given node with the given name is managed by this Scene.

Parameters

[in] _name Name of the node in question

Returns: True if a node is managed by this scene

◆ Id()

virtual unsigned int Id ( ) const

pure virtual

Get the ID of the scene.

Returns: The scene ID

◆ Init()

virtual void Init ( )

pure virtual

Initialize the scene.

◆ IsGradientBackgroundColor()

virtual bool IsGradientBackgroundColor ( ) const

pure virtual

Whether the scene has a gradient background or not (solid)

Returns: True if the scene has a gradient background or false otherwise

◆ IsInitialized()

virtual bool IsInitialized ( ) const

pure virtual

Determine if the scene is initialized.

Returns: True if the scene is initialized

◆ LegacyAutoGpuFlush()

virtual bool LegacyAutoGpuFlush ( ) const

pure virtual

Checks if SetCameraPassCountPerGpuFlush is 0.

Returns: True if Gazebo is using the old method (i.e. 0). ALWAYS returns true for plugins that ignore SetCameraPassCountPerGpuFlush

◆ LightById()

virtual LightPtr LightById ( unsigned int _id ) const

pure virtual

Get light with the given id. If no light exists with the given id, NULL will be returned.

Parameters

[in] _id ID of the desired light

Returns: The desired light

◆ LightByIndex()

virtual LightPtr LightByIndex ( unsigned int _index ) const

pure virtual

Get light at the given index. If no light exists at the given index, NULL will be returned.

Parameters

[in] _index Index of the desired light

Returns: The desired light

◆ LightByName()

virtual LightPtr LightByName ( const std::string & _name ) const

pure virtual

Get light with the given name. If no light exists with the given name, NULL will be returned.

Parameters

[in] _name Name of the desired light

Returns: The desired light

◆ LightCount()

virtual unsigned int LightCount ( ) const

pure virtual

Get the number of lights managed by this scene. Note these lights may not be directly or indirectly attached to the root light.

Returns: The number of lights managed by this scene

◆ Load()

virtual void Load ( )

pure virtual

Load scene-specific resources.

◆ Material()

virtual MaterialPtr Material ( const std::string & _name ) const

pure virtual

Get material registered under the given name. If no material is registered under the given name, NULL will be returned.

Parameters

[in] _name Name of the desired material

Returns: The specified material

Referenced by BaseGizmoVisual< Ogre2Visual >::CreateMaterials(), BaseGeometry< OgreObject >::SetMaterial(), BaseVisual< OgreNode >::SetMaterial(), BaseMesh< OgreGeometry >::SetMaterial(), and BaseSubMesh< OgreObject >::SetMaterial().

◆ MaterialRegistered()

virtual bool MaterialRegistered ( const std::string & _name ) const

pure virtual

Determine if a material is registered under the given name.

Parameters

[in] _name Name of the material in question

Returns: True if a material is registered under the given name

◆ Name()

virtual std::string Name ( ) const

pure virtual

Get the name of the scene.

Returns: The scene name

◆ NodeById()

virtual NodePtr NodeById ( unsigned int _id ) const

pure virtual

Get node with the given id. If no node exists with the given id, NULL will be returned.

Parameters

[in] _id ID of the desired node

Returns: The desired node

◆ NodeByIndex()

virtual NodePtr NodeByIndex ( unsigned int _index ) const

pure virtual

Get node at the given index. If no node exists at the given index, NULL will be returned.

Parameters

[in] _index Index of the desired node

Returns: The desired node

◆ NodeByName()

virtual NodePtr NodeByName ( const std::string & _name ) const

pure virtual

Get node with the given name. If no node exists with the given name, NULL will be returned.

Parameters

[in] _name Name of the desired node

Returns: The desired node

Referenced by BaseJointVisual< Ogre2Visual >::CreateParentAxis().

◆ NodeCount()

virtual unsigned int NodeCount ( ) const

pure virtual

Get the number of nodes managed by this scene. Note these nodes may not be directly or indirectly attached to the root node.

Returns: The number of nodes managed by this scene

◆ PostRender()

virtual void PostRender ( )

pure virtual

Call this function after you're done updating ALL cameras.

Remarks: Each PreRender must have a correspondent PostRender; Particle FX simulation is moved forward after this call

See also: Scene::SetCameraPassCountPerGpuFlush

Referenced by BaseCamera< OgreSensor >::Update().

◆ PreRender()

virtual void PreRender ( )

pure virtual

Prepare scene for rendering. The scene will flushing any scene changes by traversing scene-graph, calling PreRender on all objects.

Referenced by BaseCamera< OgreSensor >::Update().

◆ RegisterMaterial()

virtual void RegisterMaterial	(	const std::string &	_name,
		MaterialPtr	_material
	)

pure virtual

Register a new material under the given name. If the name is already in use, no work will be done.

Parameters

[in]	_name	Name which the material will be registered under
[in]	_material	Material to register

◆ RemoveGradientBackgroundColor()

virtual void RemoveGradientBackgroundColor ( )

pure virtual

Remove the scene gradient background color.

See also: void SetGradientBackgroundColor( const std::array<math::Color, 4> &_colors)

◆ RootVisual()

virtual VisualPtr RootVisual ( ) const

pure virtual

Get root Visual node. All nodes that are desired to be rendered in a scene should be added to this Visual or one of its ancestors in the scene-graph. Nodes created by this Scene will not be added to the scene by default.

Returns: The root Visual node

◆ SensorById()

virtual SensorPtr SensorById ( unsigned int _id ) const

pure virtual

Get sensor with the given id. If no sensor exists with the given id, NULL will be returned.

Parameters

[in] _id ID of the desired sensor

Returns: The desired sensor

◆ SensorByIndex()

virtual SensorPtr SensorByIndex ( unsigned int _index ) const

pure virtual

Get sensor at the given index. If no sensor exists at the given index, NULL will be returned.

Parameters

[in] _index Index of the desired sensor

Returns: The desired sensor

◆ SensorByName()

virtual SensorPtr SensorByName ( const std::string & _name ) const

pure virtual

Get sensor with the given name. If no sensor exists with the given name, NULL will be returned.

Parameters

[in] _name Name of the desired sensor

Returns: The desired sensor

◆ SensorCount()

virtual unsigned int SensorCount ( ) const

pure virtual

Get the number of sensors managed by this scene. Note these sensors may not be directly or indirectly attached to the root sensor.

Returns: The number of sensors managed by this scene

◆ SetAmbientLight() [1/2]

virtual void SetAmbientLight ( const math::Color & _color )

pure virtual

Set the scene ambient light color.

Parameters

[in] _color The scene ambient light color

◆ SetAmbientLight() [2/2]

virtual void SetAmbientLight	(	double	_r,
		double	_g,
		double	_b,
		double	_a = `1.0`
	)

pure virtual

Set the scene ambient light color.

Parameters

[in]	_r	Red color
[in]	_g	Green color
[in]	_b	Blue color
[in]	_a	Alpha color

◆ SetBackgroundColor() [1/2]

virtual void SetBackgroundColor ( const math::Color & _color )

pure virtual

Set the scene background color.

Parameters

[in] _color The scene background color

◆ SetBackgroundColor() [2/2]

virtual void SetBackgroundColor	(	double	_r,
		double	_g,
		double	_b,
		double	_a = `1.0`
	)

pure virtual

Set the scene background color.

Parameters

[in]	_r	Red color
[in]	_g	Green color
[in]	_b	Blue color
[in]	_a	Alpha color

◆ SetBackgroundMaterial()

virtual void SetBackgroundMaterial ( MaterialPtr _material )

pure virtual

Set the scene background material e.g. a material with skybox cubemap texture.

Parameters

[in] _material Material to set the background to

◆ SetCameraPassCountPerGpuFlush()

virtual void SetCameraPassCountPerGpuFlush ( uint8_t _numPass )

pure virtual

The ideal render loop is as follows:

scene->PreRender();
for (auto &camera in cameras)
  camera->Render();
for (auto &camera in cameras)
  camera->PostRender();
scene->PostRender();

Now... Camera Render calls MUST happen between Scene::PreRender and Scene::PostRender.

The scene must not be modified (e.g. add/remove objects, lights, etc) while inside Scene PreRender/PostRender

Legacy mode: Set this value to 0.

Old projects migrating to newer ign versions may break these rules (e.g. not calling Render between Scene's Pre/PostRender).

Setting this value to 0 forces Gazebo to flush commands for every camera; thus avoiding the need to call PostRender at all

This is much slower but will ease porting, specially if it's not easy to adapt your code to call PostRender for some reason (in non-legacy mode each call must correspond to a previous PreRender call)

Legacy mode forces Particle FX simulations to move forward after each camera render, which can cause inconsistencies when Cameras are supposed to be rendering the same frame from different angles

New mode i.e. values greater than 0:

The CPU normally queues up of rendering commands from each Camera and then waits for the GPU to finish up.

If we flush too often, the CPU will often have to wait for the GPU to finish.
If we flush infrequently, RAM consumption will rise due to queueing up too much unsubmitted work.

Larger values values queue up more work; lower values flush more frequently.

Note that work may be submitted earlier if required by a specific operation (e.g. reading GPU -> CPU)

A sensible value in the range of [2; 6] is probably the best ratio between parallel performance / RAM cost.

Actual value depends on scene complexity and number of shadow casting lights

If you're too tight on RAM consumption, try setting this value to 1.

Example:

Cubemap rendering w/ 3 probes and 5 shadowmaps can cause a blow up of passes:

(5 shadow maps per face + 1 regular render) x 6 faces x 3 probes = 108 render_scene passes. 108 is way too much, causing out of memory situations;

so setting the value to 6 (1 cubemap face = 1 pass) will force one flush per cubemap face, flushing a total of 3 times (one per cubemap).

Upper bound

Once Scene::PostRender is called, a flush is always forced.

If you set a value of e.g. 6, but you have a single camera, it will be flushed after Scene::PostRender, thus having a value of 1 or 6 won't matter as the result will be exactly the same (in every term: performance, memory consumption)

A value of 6 is like an upper bound. We may queue up to 6 render passes or less; but never more.

Remarks: Not all rendering engines care about this. ogre2 plugin does.

Parameters

[in] _numPass 0 for old projects who can't or don't know when to call PostRender and prefer to penalize rendering performance Value in range [1; 255]

◆ SetGradientBackgroundColor()

virtual void SetGradientBackgroundColor ( const std::array< math::Color, 4 > & _colors )

pure virtual

Set a custom gradient background color on top of the regular background. Default should be black.

Important note: Keep in mind that this object will always be rendered on top of any existing scene or camera background.

Parameters

[in] _colors The scene gradient background color. Next is the description of how to interpret each value of the array: 0: Top left corner color. 1: Bottom left corner color. 2: Top right corner color. 3: Bottom right corner color.

See also: void RemoveGradientBackgroundColor()

◆ SetSimTime()

virtual void SetSimTime ( const common::Time & _time )

pure virtual

Set the last simulation update time.

Parameters

[in] _time Latest simulation update time

◆ SetSkyEnabled()

virtual void SetSkyEnabled ( bool _enabled )

pure virtual

Enable sky in the scene.

Parameters

[in] _enabled True to enable sky

◆ SetTime()

virtual void SetTime ( const std::chrono::steady_clock::duration & _time )

pure virtual

Set the last simulation update time.

Parameters

[in] _time Latest simulation update time

◆ SimTime()

virtual common::Time SimTime ( ) const

pure virtual

Get the last simulation update time.

Returns: The last simulation update time

◆ SkyEnabled()

virtual bool SkyEnabled ( ) const

pure virtual

Get whether the sky is enabled in the scene.

Returns: true to sky is enabled, false otherwise

◆ Time()

virtual std::chrono::steady_clock::duration Time ( ) const

pure virtual

Get the last simulation update time.

Returns: The last simulation update time

◆ UnregisterMaterial()

virtual void UnregisterMaterial ( const std::string & _name )

pure virtual

Unregister material registered under the given name. If no material is registered under this name, no work will be done.

Parameters

[in] _name Name of the material to unregistered

◆ UnregisterMaterials()

virtual void UnregisterMaterials ( )

pure virtual

Unregister all registered materials.

◆ VisualAt()

virtual VisualPtr VisualAt	(	const CameraPtr &	_camera,
		const math::Vector2i &	_mousePos
	)

pure virtual

Get a visual at a mouse position.

Parameters

[in]	_camera	Camera pointer being used
[in]	_mousePos	position of the mouse in pixels

Returns: Pointer to the visual, NULL if none found.

◆ VisualById()

virtual VisualPtr VisualById ( unsigned int _id ) const

pure virtual

Get node with the given id. If no node exists with the given id, NULL will be returned.

Parameters

[in] _id ID of the desired node

Returns: The desired node

◆ VisualByIndex()

virtual VisualPtr VisualByIndex ( unsigned int _index ) const

pure virtual

Get node at the given index. If no node exists at the given index, NULL will be returned.

Parameters

[in] _index Index of the desired node

Returns: The desired node

◆ VisualByName()

virtual VisualPtr VisualByName ( const std::string & _name ) const

pure virtual

Get node with the given name. If no node exists with the given name, NULL will be returned.

Parameters

[in] _name Name of the desired node

Returns: The desired node

◆ VisualCount()

virtual unsigned int VisualCount ( ) const

pure virtual

Get the number of nodes managed by this scene. Note these nodes may not be directly or indirectly attached to the root node.

Returns: The number of nodes managed by this scene

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

gz/rendering/Scene.hh

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Scene()

Member Function Documentation

◆ AmbientLight()

◆ BackgroundColor()

◆ BackgroundMaterial()

◆ CameraPassCountPerGpuFlush()

◆ Clear()

◆ CreateArrowVisual() [1/4]

◆ CreateArrowVisual() [2/4]

◆ CreateArrowVisual() [3/4]

◆ CreateArrowVisual() [4/4]

◆ CreateAxisVisual() [1/4]

◆ CreateAxisVisual() [2/4]

◆ CreateAxisVisual() [3/4]

◆ CreateAxisVisual() [4/4]

◆ CreateBoundingBoxCamera() [1/4]

◆ CreateBoundingBoxCamera() [2/4]

◆ CreateBoundingBoxCamera() [3/4]

◆ CreateBoundingBoxCamera() [4/4]

◆ CreateBox()

◆ CreateCamera() [1/4]

◆ CreateCamera() [2/4]

◆ CreateCamera() [3/4]

◆ CreateCamera() [4/4]

◆ CreateCapsule()

◆ CreateCOMVisual() [1/4]

◆ CreateCOMVisual() [2/4]

◆ CreateCOMVisual() [3/4]

◆ CreateCOMVisual() [4/4]

◆ CreateCone()

◆ CreateCylinder()

◆ CreateDepthCamera() [1/4]

◆ CreateDepthCamera() [2/4]

◆ CreateDepthCamera() [3/4]

◆ CreateDepthCamera() [4/4]

◆ CreateDirectionalLight() [1/4]

◆ CreateDirectionalLight() [2/4]

◆ CreateDirectionalLight() [3/4]

◆ CreateDirectionalLight() [4/4]

◆ CreateGizmoVisual() [1/4]

◆ CreateGizmoVisual() [2/4]

◆ CreateGizmoVisual() [3/4]

◆ CreateGizmoVisual() [4/4]

◆ CreateGpuRays() [1/4]

◆ CreateGpuRays() [2/4]

◆ CreateGpuRays() [3/4]

◆ CreateGpuRays() [4/4]

◆ CreateGrid()

◆ CreateHeightmap()

◆ CreateInertiaVisual() [1/4]

◆ CreateInertiaVisual() [2/4]

◆ CreateInertiaVisual() [3/4]

◆ CreateInertiaVisual() [4/4]

◆ CreateJointVisual() [1/4]

◆ CreateJointVisual() [2/4]

◆ CreateJointVisual() [3/4]

◆ CreateJointVisual() [4/4]

◆ CreateLidarVisual() [1/4]

◆ CreateLidarVisual() [2/4]

◆ CreateLidarVisual() [3/4]

◆ CreateLidarVisual() [4/4]

◆ CreateLightVisual() [1/4]

◆ CreateLightVisual() [2/4]

◆ CreateLightVisual() [3/4]

◆ CreateLightVisual() [4/4]

◆ CreateMarker()

◆ CreateMaterial() [1/2]

◆ CreateMaterial() [2/2]

◆ CreateMesh() [1/3]

◆ CreateMesh() [2/3]

◆ CreateMesh() [3/3]

◆ CreateParticleEmitter() [1/4]

◆ CreateParticleEmitter() [2/4]

◆ CreateParticleEmitter() [3/4]

◆ CreateParticleEmitter() [4/4]

◆ CreatePlane()

◆ CreatePointLight() [1/4]