Gazebo Rendering

API Reference

9.0.0
BaseLightVisual.hh
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1/*
2 * Copyright (C) 2021 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16 */
17#ifndef GZ_RENDERING_BASE_BASELIGHTVISUAL_HH_
18#define GZ_RENDERING_BASE_BASELIGHTVISUAL_HH_
19
20#include <vector>
21
22#include "gz/rendering/base/BaseObject.hh"
23#include "gz/rendering/base/BaseRenderTypes.hh"
24#include "gz/rendering/LightVisual.hh"
25#include "gz/rendering/Scene.hh"
26
27namespace gz
28{
29 namespace rendering
30 {
31 inline namespace GZ_RENDERING_VERSION_NAMESPACE {
32 //
34 template <class T>
35 class BaseLightVisual :
36 public virtual LightVisual,
37 public virtual T
38 {
40 protected: BaseLightVisual();
41
43 public: virtual ~BaseLightVisual();
44
45 // Documentation inherited.
46 protected: virtual void Init() override;
47
48 // Documentation inherited.
49 protected: virtual void PreRender() override;
50
51 // Documentation inherited
52 public: virtual void SetType(LightVisualType _type) override;
53
54 // Documentation inherited
55 public: virtual void SetInnerAngle(double _innerAngle) override;
56
57 // Documentation inherited
58 public: virtual double InnerAngle() override;
59
60 // Documentation inherited
61 public: virtual void SetOuterAngle(double _innerAngle) override;
62
63 // Documentation inherited
64 public: virtual double OuterAngle() override;
65
67 public: std::vector<gz::math::Vector3d> CreateVisualLines();
68
69 // Documentation inherited
70 public: virtual LightVisualType Type() override;
71
73 protected: LightVisualType type = LightVisualType::LVT_EMPTY;
74
76 protected: double innerAngle = 0;
77
79 protected: double outerAngle = 0;
80
82 protected: bool dirtyLightVisual = false;
83 };
84
86 template <class T>
90
92 template <class T>
96
98 template <class T>
99 void BaseLightVisual<T>::PreRender()
100 {
101 T::PreRender();
102 }
103
105 template <class T>
106 void BaseLightVisual<T>::Init()
107 {
108 T::Init();
109 }
110
112 template <class T>
113 void BaseLightVisual<T>::SetType(LightVisualType _type)
114 {
115 this->type = _type;
116 this->dirtyLightVisual = true;
117 }
118
120 template <class T>
121 LightVisualType BaseLightVisual<T>::Type()
122 {
123 return this->type;
124 }
125
127 template <class T>
128 void BaseLightVisual<T>::SetInnerAngle(double _innerAngle)
129 {
130 this->innerAngle = _innerAngle;
131 this->dirtyLightVisual = true;
132 }
133
135 template <class T>
136 double BaseLightVisual<T>::InnerAngle()
137 {
138 return this->innerAngle;
139 }
140
142 template <class T>
143 void BaseLightVisual<T>::SetOuterAngle(double _outerAngle)
144 {
145 this->outerAngle = _outerAngle;
146 this->dirtyLightVisual = true;
147 }
148
150 template <class T>
151 double BaseLightVisual<T>::OuterAngle()
152 {
153 return this->outerAngle;
154 }
155
156 template <class T>
157 std::vector<gz::math::Vector3d>
158 BaseLightVisual<T>::CreateVisualLines()
159 {
160 std::vector<gz::math::Vector3d> positions;
161
162 if (this->type == LightVisualType::LVT_DIRECTIONAL)
163 {
164 float s = 0.5;
165 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
166 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
167
168 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
169 positions.emplace_back(gz::math::Vector3d(s, s, 0));
170
171 positions.emplace_back(gz::math::Vector3d(s, s, 0));
172 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
173
174 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
175 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
176
177 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
178 positions.emplace_back(gz::math::Vector3d(0, 0, -s));
179 }
180 else if (this->type == LightVisualType::LVT_POINT)
181 {
182 float s = 0.1f;
183 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
184 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
185
186 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
187 positions.emplace_back(gz::math::Vector3d(s, s, 0));
188
189 positions.emplace_back(gz::math::Vector3d(s, s, 0));
190 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
191
192 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
193 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
194
195 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
196 positions.emplace_back(gz::math::Vector3d(0, 0, s));
197
198 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
199 positions.emplace_back(gz::math::Vector3d(0, 0, s));
200
201 positions.emplace_back(gz::math::Vector3d(s, s, 0));
202 positions.emplace_back(gz::math::Vector3d(0, 0, s));
203
204 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
205 positions.emplace_back(gz::math::Vector3d(0, 0, s));
206
207 positions.emplace_back(gz::math::Vector3d(-s, -s, 0));
208 positions.emplace_back(gz::math::Vector3d(0, 0, -s));
209
210 positions.emplace_back(gz::math::Vector3d(-s, s, 0));
211 positions.emplace_back(gz::math::Vector3d(0, 0, -s));
212
213 positions.emplace_back(gz::math::Vector3d(s, s, 0));
214 positions.emplace_back(gz::math::Vector3d(0, 0, -s));
215
216 positions.emplace_back(gz::math::Vector3d(s, -s, 0));
217 positions.emplace_back(gz::math::Vector3d(0, 0, -s));
218 }
219 else if (this->type == LightVisualType::LVT_SPOT)
220 {
221 double angles[2];
222 double range = 0.2;
223 angles[0] = range * tan(outerAngle / 2.0);
224 angles[1] = range * tan(innerAngle / 2.0);
225
226 unsigned int i = 0;
227 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
228 positions.emplace_back(
229 gz::math::Vector3d(angles[i], angles[i], -range));
230
231 for (i = 0; i < 2; i++)
232 {
233 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
234 positions.emplace_back(gz::math::Vector3d(
235 angles[i], angles[i], -range));
236
237 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
238 positions.emplace_back(gz::math::Vector3d(
239 -angles[i], -angles[i], -range));
240
241 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
242 positions.emplace_back(gz::math::Vector3d(
243 angles[i], -angles[i], -range));
244
245 positions.emplace_back(gz::math::Vector3d(0, 0, 0));
246 positions.emplace_back(gz::math::Vector3d(
247 -angles[i], angles[i], -range));
248
249 positions.emplace_back(gz::math::Vector3d(
250 angles[i], angles[i], -range));
251 positions.emplace_back(gz::math::Vector3d(
252 -angles[i], angles[i], -range));
253
254 positions.emplace_back(gz::math::Vector3d(
255 -angles[i], angles[i], -range));
256 positions.emplace_back(gz::math::Vector3d(
257 -angles[i], -angles[i], -range));
258
259 positions.emplace_back(gz::math::Vector3d(
260 -angles[i], -angles[i], -range));
261 positions.emplace_back(gz::math::Vector3d(
262 angles[i], -angles[i], -range));
263
264 positions.emplace_back(gz::math::Vector3d(
265 angles[i], -angles[i], -range));
266 positions.emplace_back(gz::math::Vector3d(
267 angles[i], angles[i], -range));
268 }
269 }
270 return positions;
271 }
272 }
273 }
274}
275#endif