BaseScene.hh

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/*
 * Copyright (C) 2015 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
 */
#ifndef GZ_RENDERING_BASE_BASESCENE_HH_
#define GZ_RENDERING_BASE_BASESCENE_HH_
 
#include <array>
#include <set>
#include <string>
 
#include <gz/common/Console.hh>
#include <gz/utils/SuppressWarning.hh>
 
#include "gz/rendering/RenderEngine.hh"
#include "gz/rendering/Scene.hh"
#include "gz/rendering/base/BaseRenderTypes.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class GZ_RENDERING_VISIBLE BaseScene :
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      public std::enable_shared_from_this<BaseScene>,
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
      public virtual Scene
    {
      protected: BaseScene(unsigned int _id, const std::string &_name);
 
      public: virtual ~BaseScene();
 
      public: virtual void Load() override;
 
      public: virtual void Init() override;
 
      public: virtual void Fini() override;
 
      public: virtual bool IsLoaded() const;
 
      public: virtual bool IsInitialized() const override;
 
      public: virtual unsigned int Id() const override;
 
      public: virtual std::string Name() const override;
 
      public: virtual std::chrono::steady_clock::duration Time()
        const override;
 
      public: virtual void SetTime(
        const std::chrono::steady_clock::duration &_time) override;
 
      public: virtual void SetAmbientLight(double _r, double _g, double _b,
                  double _a = 1.0) override;
 
      public: virtual void SetAmbientLight(const math::Color &_color)
                      override = 0;
 
      public: virtual math::Color BackgroundColor() const override;
 
      public: virtual void SetBackgroundColor(double _r, double _g, double _b,
                  double _a = 1.0) override;
 
      public: virtual void SetBackgroundColor(const math::Color &_color)
                      override;
 
      // Documentation inherited.
      public: virtual bool IsGradientBackgroundColor() const override;
 
      // Documentation inherited.
      public: virtual std::array<math::Color, 4> GradientBackgroundColor()
                  const override;
 
      // Documentation inherited.
      public: virtual void SetGradientBackgroundColor(
                  const std::array<math::Color, 4> &_colors) override;
 
      // Documentation inherited.
      public: virtual void RemoveGradientBackgroundColor() override;
 
      // Documentation inherited.
      public: virtual MaterialPtr BackgroundMaterial() const override;
 
      // Documentation inherited.
      public: virtual void SetBackgroundMaterial(MaterialPtr _material)
          override;
 
      public: virtual unsigned int NodeCount() const override;
 
      public: virtual bool HasNode(ConstNodePtr _node) const override;
 
      public: virtual bool HasNodeId(unsigned int _id) const override;
 
      public: virtual bool HasNodeName(const std::string &_name) const override;
 
      public: virtual NodePtr NodeById(unsigned int _id) const override;
 
      public: virtual NodePtr NodeByName(const std::string &_name) const
                      override;
 
      public: virtual NodePtr NodeByIndex(unsigned int _index) const override;
 
      // Documentation inherited.
      public: virtual void DestroyNode(NodePtr _node, bool _recursive = false)
                      override;
 
      public: virtual void DestroyNodeById(unsigned int _id) override;
 
      public: virtual void DestroyNodeByName(const std::string &_name) override;
 
      public: virtual void DestroyNodeByIndex(unsigned int _index) override;
 
      public: virtual void DestroyNodes() override;
 
      public: virtual unsigned int LightCount() const override;
 
      public: virtual bool HasLight(ConstLightPtr _light) const override;
 
      public: virtual bool HasLightId(unsigned int _id) const override;
 
      public: virtual bool HasLightName(const std::string &_name) const
                      override;
 
      public: virtual LightPtr LightById(unsigned int _id) const override;
 
      public: virtual LightPtr LightByName(const std::string &_name) const
                      override;
 
      public: virtual LightPtr LightByIndex(unsigned int _index) const override;
 
      // Documentation inherited.
      public: virtual void DestroyLight(LightPtr _light,
          bool _recursive = false) override;
 
      public: virtual void DestroyLightById(unsigned int _id) override;
 
      public: virtual void DestroyLightByName(const std::string &_name)
                      override;
 
      public: virtual void DestroyLightByIndex(unsigned int _index) override;
 
      public: virtual void DestroyLights() override;
 
      public: virtual unsigned int SensorCount() const override;
 
      public: virtual bool HasSensor(ConstSensorPtr _sensor) const override;
 
      public: virtual bool HasSensorId(unsigned int _id) const override;
 
      public: virtual bool HasSensorName(const std::string &_name) const
                      override;
 
      public: virtual SensorPtr SensorById(unsigned int _id) const override;
 
      public: virtual SensorPtr SensorByName(const std::string &_name) const
                      override;
 
      public: virtual SensorPtr SensorByIndex(unsigned int _index) const
                      override;
 
      // Documentation inherited.
      public: virtual void DestroySensor(SensorPtr _sensor,
          bool _recursive = false) override;
 
      public: virtual void DestroySensorById(unsigned int _id) override;
 
      public: virtual void DestroySensorByName(const std::string &_name)
                      override;
 
      public: virtual void DestroySensorByIndex(unsigned int _index) override;
 
      public: virtual void DestroySensors() override;
 
      public: virtual unsigned int VisualCount() const override;
 
      public: virtual bool HasVisual(ConstVisualPtr _visual) const override;
 
      public: virtual bool HasVisualId(unsigned int _id) const override;
 
      public: virtual bool HasVisualName(const std::string &_name) const
                      override;
 
      public: virtual VisualPtr VisualById(unsigned int _id) const override;
 
      public: virtual VisualPtr VisualByName(const std::string &_name) const
                      override;
 
      public: virtual VisualPtr VisualByIndex(unsigned int _index) const
                      override;
 
      // Documentation inherited
      public: virtual VisualPtr VisualAt(const CameraPtr &_camera,
                          const gz::math::Vector2i &_mousePos) override;
 
      // Documentation inherited.
      public: virtual void DestroyVisual(VisualPtr _visual,
          bool _recursive = false) override;
 
      public: virtual void DestroyVisualById(unsigned int _id) override;
 
      public: virtual void DestroyVisualByName(const std::string &_name)
                      override;
 
      public: virtual void DestroyVisualByIndex(unsigned int _index) override;
 
      public: virtual void DestroyVisuals() override;
 
      public: virtual bool MaterialRegistered(const std::string &_name) const
                      override;
 
      public: virtual MaterialPtr Material(const std::string &_name) const
                      override;
 
      public: virtual void RegisterMaterial(const std::string &_name,
                  MaterialPtr _material) override;
 
      public: virtual void UnregisterMaterial(const std::string &_name)
                      override;
 
      public: virtual void UnregisterMaterials() override;
 
      // Documentation inherited
      public: virtual void DestroyMaterial(MaterialPtr _material) override;
 
      // Documentation inherited
      public: virtual void DestroyMaterials() override;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight() override;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  unsigned int _id) override;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  const std::string &_name) override;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  unsigned int _id, const std::string &_name) override;
 
      public: virtual PointLightPtr CreatePointLight() override;
 
      public: virtual PointLightPtr CreatePointLight(unsigned int _id) override;
 
      public: virtual PointLightPtr CreatePointLight(const std::string &_name)
                      override;
 
      public: virtual PointLightPtr CreatePointLight(unsigned int _id,
                  const std::string &_name) override;
 
      protected: virtual COMVisualPtr CreateCOMVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual InertiaVisualPtr CreateInertiaVisualImpl(
                     unsigned int _id, const std::string &_name) = 0;
 
      protected: virtual JointVisualPtr CreateJointVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual LightVisualPtr CreateLightVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      public: virtual SpotLightPtr CreateSpotLight() override;
 
      public: virtual SpotLightPtr CreateSpotLight(unsigned int _id) override;
 
      public: virtual SpotLightPtr CreateSpotLight(const std::string &_name)
                      override;
 
      public: virtual SpotLightPtr CreateSpotLight(unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual CameraPtr CreateCamera() override;
 
      public: virtual CameraPtr CreateCamera(unsigned int _id) override;
 
      public: virtual CameraPtr CreateCamera(const std::string &_name) override;
 
      public: virtual CameraPtr CreateCamera(unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual DepthCameraPtr CreateDepthCamera() override;
 
      public: virtual DepthCameraPtr CreateDepthCamera(const unsigned int _id)
                      override;
 
      public: virtual DepthCameraPtr CreateDepthCamera(
                  const std::string &_name) override;
 
      public: virtual DepthCameraPtr CreateDepthCamera(const unsigned int _id,
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual ThermalCameraPtr CreateThermalCamera() override;
 
      // Documentation inherited.
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  const unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  const unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera() override;
 
      // Documentation inherited.
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
        const unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
        const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
        const unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual SegmentationCameraPtr CreateSegmentationCamera() override;
 
      // Documentation inherited.
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
        const unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
        const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
        const unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual WideAngleCameraPtr CreateWideAngleCamera() override;
 
      // Documentation inherited.
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
        const unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
        const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
        const unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GpuRaysPtr CreateGpuRays() override;
 
      // Documentation inherited.
      public: virtual GpuRaysPtr CreateGpuRays(const unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual GpuRaysPtr CreateGpuRays(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GpuRaysPtr CreateGpuRays(const unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual VisualPtr CreateVisual() override;
 
      public: virtual VisualPtr CreateVisual(unsigned int _id) override;
 
      public: virtual VisualPtr CreateVisual(const std::string &_name) override;
 
      public: virtual VisualPtr CreateVisual(unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual ArrowVisualPtr CreateArrowVisual() override;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(unsigned int _id)
                      override;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(
                  const std::string &_name) override;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual AxisVisualPtr CreateAxisVisual() override;
 
      public: virtual AxisVisualPtr CreateAxisVisual(unsigned int _id) override;
 
      public: virtual AxisVisualPtr CreateAxisVisual(const std::string &_name)
                      override;
 
      public: virtual AxisVisualPtr CreateAxisVisual(unsigned int _id,
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual COMVisualPtr CreateCOMVisual() override;
 
      // Documentation inherited
      public: virtual COMVisualPtr CreateCOMVisual(unsigned int _id)
                      override;
 
      // Documentation inherited
      public: virtual COMVisualPtr CreateCOMVisual(const std::string &_name)
                      override;
 
      // Documentation inherited
      public: virtual COMVisualPtr CreateCOMVisual(unsigned int _id,
                  const std::string &_name) override;
 
      public: virtual InertiaVisualPtr CreateInertiaVisual() override;
 
      // Documentation inherited
      public: virtual InertiaVisualPtr CreateInertiaVisual(unsigned int _id)
                      override;
 
      // Documentation inherited
      public: virtual InertiaVisualPtr CreateInertiaVisual(
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual InertiaVisualPtr CreateInertiaVisual(unsigned int _id,
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual JointVisualPtr CreateJointVisual() override;
 
      // Documentation inherited
      public: virtual JointVisualPtr CreateJointVisual(unsigned int _id)
                      override;
 
      // Documentation inherited
      public: virtual JointVisualPtr CreateJointVisual(
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual JointVisualPtr CreateJointVisual(unsigned int _id,
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual LightVisualPtr CreateLightVisual() override;
 
      // Documentation inherited
      public: virtual LightVisualPtr CreateLightVisual(unsigned int _id)
                      override;
 
      // Documentation inherited
      public: virtual LightVisualPtr CreateLightVisual(const std::string &_name)
                      override;
 
      // Documentation inherited
      public: virtual LightVisualPtr CreateLightVisual(unsigned int _id,
                  const std::string &_name) override;
 
      // Documentation inherited
      public: virtual GizmoVisualPtr CreateGizmoVisual() override;
 
      // Documentation inherited
      public: virtual GizmoVisualPtr CreateGizmoVisual(unsigned int _id)
                      override;
 
      // Documentation inherited
      public: virtual GizmoVisualPtr CreateGizmoVisual(const std::string &_name)
                      override;
 
      // Documentation inherited
      public: virtual GizmoVisualPtr CreateGizmoVisual(unsigned int _id,
                  const std::string &_name) override;
 
 
      public: virtual GeometryPtr CreateBox() override;
 
      public: virtual GeometryPtr CreateCone() override;
 
      public: virtual GeometryPtr CreateCylinder() override;
 
      public: virtual GeometryPtr CreatePlane() override;
 
      public: virtual GeometryPtr CreateSphere() override;
 
      public: virtual MeshPtr CreateMesh(const std::string &_meshName) override;
 
      public: virtual MeshPtr CreateMesh(const common::Mesh *_mesh) override;
 
      public: virtual MeshPtr CreateMesh(const MeshDescriptor &_desc) override;
 
      // Documentation inherited.
      public: virtual CapsulePtr CreateCapsule() override;
 
      // Documentation inherited.
      public: virtual GridPtr CreateGrid() override;
 
      // Documentation inherited.
      public: virtual MarkerPtr CreateMarker() override;
 
      // Documentation inherited.
      public: virtual LidarVisualPtr CreateLidarVisual() override;
 
      // Documentation inherited.
      public: virtual LidarVisualPtr CreateLidarVisual(
                                            unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual LidarVisualPtr CreateLidarVisual(
                                            const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual LidarVisualPtr CreateLidarVisual(unsigned int _id,
                                            const std::string &_name) override;
 
      // Documentation inherited.
      // \todo(iche033) commented out for ABI compatibility
      // public: virtual FrustumVisualPtr CreateFrustumVisual() override;
 
      // Documentation inherited.
      // \todo(iche033) commented out for ABI compatibility
      // public: virtual FrustumVisualPtr CreateFrustumVisual(
      //                                     unsigned int _id) override;
 
      // Documentation inherited.
      // \todo(iche033) commented out for ABI compatibility
      // public: virtual FrustumVisualPtr CreateFrustumVisual(
      //                                     const std::string &_name) override;
 
      // Documentation inherited.
      // \todo(iche033) commented out for ABI compatibility
      // public: virtual FrustumVisualPtr CreateFrustumVisual(unsigned int _id,
      //                                     const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual HeightmapPtr CreateHeightmap(
          const HeightmapDescriptor &_desc) override;
 
      // Documentation inherited.
      public: virtual WireBoxPtr CreateWireBox() override;
 
      // Documentation inherited.
      public: virtual TextPtr CreateText() override;
 
      public: virtual MaterialPtr CreateMaterial(const std::string &_name = "")
                      override;
 
      public: virtual MaterialPtr CreateMaterial(
                  const common::Material &_material) override;
 
      public: virtual RenderTexturePtr CreateRenderTexture() override;
 
      // Documentation inherited.
      public: virtual RenderWindowPtr CreateRenderWindow() override;
 
      public: virtual RayQueryPtr CreateRayQuery() override;
 
      // Documentation inherited.
      public: virtual ParticleEmitterPtr CreateParticleEmitter() override;
 
      // Documentation inherited.
      public: virtual ParticleEmitterPtr CreateParticleEmitter(unsigned int _id)
                      override;
 
      // Documentation inherited.
      public: virtual ParticleEmitterPtr CreateParticleEmitter(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual ParticleEmitterPtr CreateParticleEmitter(
                  unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual ProjectorPtr CreateProjector() override;
 
      // Documentation inherited.
      public: virtual ProjectorPtr CreateProjector(unsigned int _id)
                  override;
 
      // Documentation inherited.
      public: virtual ProjectorPtr CreateProjector(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual ProjectorPtr CreateProjector(
                  unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationVctPtr
                  CreateGlobalIlluminationVct() override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationCiVctPtr
                  CreateGlobalIlluminationCiVct() override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  unsigned int _id) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  unsigned int _id, const std::string &_name) override;
 
      // Documentation inherited.
      public: virtual void SetSkyEnabled(bool _enabled) override;
 
      // Documentation inherited.
      public: virtual bool SkyEnabled() const override;
 
      // Documentation inherited.
      public: virtual bool SetShadowTextureSize(LightType _lightType,
                  unsigned int _textureSize) override;
 
      // Documentation inherited.
      public: virtual unsigned int ShadowTextureSize(LightType _lightType) const
                  override;
 
      // Documentation inherited.
      public: virtual void SetActiveGlobalIllumination(
            GlobalIlluminationBasePtr _gi) override;
 
      public: virtual void PreRender() override;
 
      public: virtual void Clear() override;
 
      public: virtual void Destroy() override;
 
      // Documentation inherited.
      public: virtual void PostRender() override;
 
      // Documentation inherited.
      public: virtual void SetCameraPassCountPerGpuFlush(
            uint8_t _numPass) override;
 
      // Documentation inherited.
      public: virtual uint8_t CameraPassCountPerGpuFlush() const override;
 
      // Documentation inherited.
      public: virtual bool LegacyAutoGpuFlush() const override;
 
      protected: virtual unsigned int CreateObjectId();
 
      protected: virtual std::string CreateObjectName(unsigned int _id,
                  const std::string &_prefix);
 
      protected: virtual bool RegisterLight(LightPtr _light);
 
      protected: virtual bool RegisterSensor(SensorPtr _vensor);
 
      protected: virtual bool RegisterVisual(VisualPtr _visual);
 
      protected: virtual DirectionalLightPtr CreateDirectionalLightImpl(
                  unsigned int _id, const std::string &_name) = 0;
 
      protected: virtual PointLightPtr CreatePointLightImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual SpotLightPtr CreateSpotLightImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual CameraPtr CreateCameraImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual DepthCameraPtr CreateDepthCameraImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual ThermalCameraPtr CreateThermalCameraImpl(
                     unsigned int _id, const std::string &_name)
                 {
                   // The following two lines will avoid doxygen warnings
                   (void)_id;
                   (void)_name;
                   gzerr << "Thermal camera not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return ThermalCameraPtr();
                 }
 
      protected: virtual BoundingBoxCameraPtr CreateBoundingBoxCameraImpl(
                     unsigned int _id, const std::string &_name)
                 {
                   // The following two lines will avoid doxygen warnings
                   (void)_id;
                   (void)_name;
                   gzerr << "BoundingBox camera not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return BoundingBoxCameraPtr();
                 }
 
      protected: virtual SegmentationCameraPtr CreateSegmentationCameraImpl(
                     unsigned int _id,
                     const std::string &_name)
                 {
                   // The following two lines will avoid doxygen warnings
                   (void)_id;
                   (void)_name;
                   gzerr << "Segmentation camera not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return SegmentationCameraPtr();
                 }
 
      protected: virtual WideAngleCameraPtr CreateWideAngleCameraImpl(
                     unsigned int _id,
                     const std::string &_name)
                 {
                   // The following two lines will avoid doxygen warnings
                   (void)_id;
                   (void)_name;
                   gzerr << "Wide angle camera not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return WideAngleCameraPtr();
                 }
 
      protected: virtual GpuRaysPtr CreateGpuRaysImpl(unsigned int _id,
                     const std::string & _name)
                 {
                   (void)_id;
                   (void)_name;
                   gzerr << "GpuRays not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return GpuRaysPtr();
                 }
 
      protected: virtual VisualPtr CreateVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual ArrowVisualPtr CreateArrowVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual AxisVisualPtr CreateAxisVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GizmoVisualPtr CreateGizmoVisualImpl(unsigned int _id,
                     const std::string &_name)
                 {
                   (void)_id;
                   (void)_name;
                   gzerr << "GizmoVisual not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return GizmoVisualPtr();
                 }
 
      protected: virtual GeometryPtr CreateBoxImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GeometryPtr CreateConeImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GeometryPtr CreateCylinderImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GeometryPtr CreatePlaneImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GeometryPtr CreateSphereImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual MeshPtr CreateMeshImpl(unsigned int _id,
                     const std::string &_name,
                     const MeshDescriptor &_desc) = 0;
 
      protected: virtual CapsulePtr CreateCapsuleImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual GridPtr CreateGridImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual MarkerPtr CreateMarkerImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual LidarVisualPtr CreateLidarVisualImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
 
      protected: virtual HeightmapPtr CreateHeightmapImpl(unsigned int _id,
                     const std::string &_name,
                     const HeightmapDescriptor &_desc) = 0;
 
      protected: virtual WireBoxPtr CreateWireBoxImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual TextPtr CreateTextImpl(unsigned int _id,
                     const std::string &_name);
 
      protected: virtual MaterialPtr CreateMaterialImpl(unsigned int _id,
                     const std::string &_name) = 0;
 
      protected: virtual RenderTexturePtr CreateRenderTextureImpl(
                     unsigned int _id, const std::string &_name) = 0;
 
      protected: virtual RenderWindowPtr CreateRenderWindowImpl(
                     unsigned int _id, const std::string &_name) = 0;
 
      protected: virtual RayQueryPtr CreateRayQueryImpl(
                     unsigned int _id, const std::string &_name) = 0;
 
      protected: virtual ParticleEmitterPtr CreateParticleEmitterImpl(
                     unsigned int _id, const std::string &_name)
                 {
                   (void)_id;
                   (void)_name;
                   gzerr << "ParticleEmitter not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return ParticleEmitterPtr();
                 }
 
      protected: virtual ProjectorPtr CreateProjectorImpl(
                     unsigned int _id, const std::string &_name)
                 {
                   (void)_id;
                   (void)_name;
                   gzerr << "Projector not supported by: "
                          << this->Engine()->Name() << std::endl;
                   return ProjectorPtr();
                 }
 
      protected: virtual GlobalIlluminationVctPtr
        CreateGlobalIlluminationVctImpl(
                    unsigned int _id, const std::string &_name)
                {
                  (void)_id;
                  (void)_name;
                  gzerr << "GlobalIlluminationVct not supported by: "
                        << this->Engine()->Name() << std::endl;
                  return GlobalIlluminationVctPtr();
                }
 
      protected: virtual GlobalIlluminationCiVctPtr
        CreateGlobalIlluminationCiVctImpl(
                    unsigned int _id, const std::string &_name)
                {
                  (void)_id;
                  (void)_name;
                  gzerr << "GlobalIlluminationCiVct not supported by: "
                        << this->Engine()->Name() << std::endl;
                  return GlobalIlluminationCiVctPtr();
                }
 
      protected: virtual LightStorePtr Lights() const = 0;
 
      protected: virtual SensorStorePtr Sensors() const = 0;
 
      protected: virtual VisualStorePtr Visuals() const = 0;
 
      protected: virtual MaterialMapPtr Materials() const = 0;
 
      protected: virtual bool LoadImpl() = 0;
 
      protected: virtual bool InitImpl() = 0;
 
      private: virtual void CreateNodeStore();
 
      private: virtual void CreateMaterials();
 
      private: void DestroyNodeRecursive(NodePtr _node,
          std::set<unsigned int> &_nodeIds);
 
      protected: unsigned int id;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      protected: std::string name;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
 
      protected: std::chrono::steady_clock::duration time =
        std::chrono::steady_clock::duration::zero();
 
      protected: bool loaded;
 
      protected: bool initialized;
 
      protected: math::Color backgroundColor;
 
      protected: std::array<math::Color, 4> gradientBackgroundColor;
 
      protected: bool isGradientBackgroundColor = false;
 
      protected: MaterialPtr backgroundMaterial;
 
      private: unsigned int nextObjectId;
 
      GZ_UTILS_WARN_IGNORE__DLL_INTERFACE_MISSING
      private: NodeStorePtr nodes;
      GZ_UTILS_WARN_RESUME__DLL_INTERFACE_MISSING
    };
    }
  }
}
#endif