A Ray Query class used for computing ray object intersections. More...

#include <BaseRayQuery.hh>

Public Member Functions
virtual	~BaseRayQuery () override
	Destructor. More...

virtual RayQueryResult	ClosestPoint (bool _forceSceneUpdate=true) override
	Compute intersections. More...

virtual math::Vector3d	Direction () const override
	Get ray direction. More...

virtual math::Vector3d	Origin () const override
	Get ray origin. More...

virtual void	SetDirection (const math::Vector3d &_dir) override
	Set ray direction. More...

virtual void	SetFromCamera (const CameraPtr &_camera, const math::Vector2d &_coord) override
	Create the ray query from camera. More...

virtual void	SetOrigin (const math::Vector3d &_origin) override
	Set ray origin. More...

void	SetPreferGpu (bool _preferGpu) override
	If possible & supported (and user called SetFromCamera()) will use the GPU to perform the ray query. Triangle-level accurate. More...

bool	UsesGpu () const override
	Returns true if the GPU will be used for the next ClosestPoint() call. More...

Public Member Functions inherited from RayQuery
virtual	~RayQuery ()
	Destructor. More...

virtual void	SetFromCamera (const WideAngleCameraPtr &_camera, uint32_t _faceIdx, const math::Vector2d &_coord)=0
	Create the ray query from WideAngleCamera. More...

Public Member Functions inherited from Object
virtual	~Object ()
	Destructor. More...

virtual void	Destroy ()=0
	Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior. More...

virtual unsigned int	Id () const =0
	Get the object ID. This ID will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual std::string	Name () const =0
	Get the object name. This name will be unique across all objects inside a given scene, but necessarily true for objects across different scenes. More...

virtual void	PostRender ()=0
	Post process this object and any of its children after rendering. More...

virtual void	PreRender ()=0
	Prepare this object and any of its children for rendering. This should be called for each object in a scene just before rendering, which can be achieved by a single call to Scene::PreRender. More...

virtual ScenePtr	Scene () const =0
	Get the Scene that created this object. More...

Protected Member Functions
	BaseRayQuery ()
	Constructor. More...

Protected Attributes
math::Vector3d	direction
	Ray direction. More...

math::Vector3d	origin
	Ray origin. More...

Detailed Description

template<class T>
class gz::rendering::BaseRayQuery< T >

A Ray Query class used for computing ray object intersections.

gz/rendering/base/BaseRayQuery.hh

Constructor & Destructor Documentation

◆ BaseRayQuery()

BaseRayQuery

protected

Constructor.

◆ ~BaseRayQuery()

~BaseRayQuery

overridevirtual

Destructor.

Member Function Documentation

◆ ClosestPoint()

RayQueryResult ClosestPoint ( bool _forceSceneUpdate = true )

overridevirtual

Compute intersections.

Parameters

[in] _forceSceneUpdate Performance optimization hint When true Ogre2 will update all derived transforms to their latest to get correct results.

When false, that step is skipped. It is only safe to set it to false when nothing has changed since the last update (i.e. nothing moved, no new objects created).

Ogre will assert if built in Debug mode if this value is set to false when it shouldn't be.

See https://ogrecave.github.io/ogre-next/api/2.2/ _ogre20_changes.html::AssersionCachedOutOfDate for more info

Returns: A vector of intersection results

Implements RayQuery.

Reimplemented in Ogre2RayQuery, and OgreRayQuery.

References RayQueryResult::distance.

◆ Direction()

gz::math::Vector3d Direction ( ) const

overridevirtual

Get ray direction.

Returns: Ray direction.

Implements RayQuery.

◆ Origin()

gz::math::Vector3d Origin ( ) const

overridevirtual

Get ray origin.

Returns: Ray origin

Implements RayQuery.

◆ SetDirection()

void SetDirection ( const math::Vector3d & _dir )

overridevirtual

Set ray direction.

Parameters

[in] _dir Ray origin

Implements RayQuery.

◆ SetFromCamera()

void SetFromCamera	(	const CameraPtr &	_camera,
		const math::Vector2d &	_coord
	)

overridevirtual

Create the ray query from camera.

Parameters

[in]	_camera	Camera to construct ray
[in]	_coord	normalized device coords [-1, +1]

Implements RayQuery.

Reimplemented in Ogre2RayQuery, and OgreRayQuery.

References Vector2< class >::X(), and Vector2< class >::Y().

◆ SetOrigin()

void SetOrigin ( const math::Vector3d & _origin )

overridevirtual

Set ray origin.

Parameters

[in] _origin Ray origin

Implements RayQuery.

◆ SetPreferGpu()

void SetPreferGpu ( bool _preferGpu )

overridevirtual

If possible & supported (and user called SetFromCamera()) will use the GPU to perform the ray query. Triangle-level accurate.

Remarks: It's not guaranteed the GPU will be used. See UsesGpu(); Using the GPU is not necessarily faster.

Parameters

[in] _preferGpu True to use the GPU if available & possible. False to never use the GPU.

Implements RayQuery.

◆ UsesGpu()

bool UsesGpu ( ) const

overridevirtual

Returns true if the GPU will be used for the next ClosestPoint() call.

Remarks: The thread ID is important. Calling this value from different threads may result in different return values.

Returns: True if next ClosestPoint() call will use the GPU.

Implements RayQuery.

Member Data Documentation

◆ direction

math::Vector3d direction

protected

Ray direction.

◆ origin

math::Vector3d origin

protected

Ray origin.

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

BaseRayQuery.hh

Gazebo Rendering

API Reference

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T>
class gz::rendering::BaseRayQuery< T >

Constructor & Destructor Documentation

◆ BaseRayQuery()

◆ ~BaseRayQuery()

Member Function Documentation

◆ ClosestPoint()

◆ Direction()

◆ Origin()

◆ SetDirection()

◆ SetFromCamera()

◆ SetOrigin()

◆ SetPreferGpu()

◆ UsesGpu()

Member Data Documentation

◆ direction

◆ origin

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

template<class T> class gz::rendering::BaseRayQuery< T >

Constructor & Destructor Documentation

◆ BaseRayQuery()

◆ ~BaseRayQuery()

Member Function Documentation

◆ ClosestPoint()

◆ Direction()

◆ Origin()

◆ SetDirection()

◆ SetFromCamera()

◆ SetOrigin()

◆ SetPreferGpu()

◆ UsesGpu()

Member Data Documentation

◆ direction

◆ origin

template<class T>
class gz::rendering::BaseRayQuery< T >