Scene.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_SCENE_HH_
#define GZ_RENDERING_SCENE_HH_
 
#include <array>
#include <string>
#include <limits>
 
#include <gz/common/Material.hh>
#include <gz/common/Mesh.hh>
 
#include <gz/math/Color.hh>
 
#include "gz/rendering/base/SceneExt.hh"
 
#include "gz/rendering/config.hh"
#include "gz/rendering/HeightmapDescriptor.hh"
#include "gz/rendering/MeshDescriptor.hh"
#include "gz/rendering/RenderTypes.hh"
#include "gz/rendering/Storage.hh"
#include "gz/rendering/Export.hh"
#include "gz/rendering/Light.hh"
 
namespace gz
{
  namespace rendering
  {
    inline namespace GZ_RENDERING_VERSION_NAMESPACE {
    //
    class RenderEngine;
    class SceneExt;
 
    class GZ_RENDERING_VISIBLE Scene
    {
      public: virtual ~Scene();
 
      public: virtual void Load() = 0;
 
      public: virtual void Init() = 0;
 
      // TODO(anyone): merge with Destroy
      public: virtual void Fini() = 0;
 
      public: virtual bool IsInitialized() const = 0;
 
      public: virtual unsigned int Id() const = 0;
 
      public: virtual std::string Name() const = 0;
 
      public: virtual RenderEngine *Engine() const = 0;
 
      public: virtual std::chrono::steady_clock::duration
        Time() const = 0;
 
      public: virtual void SetTime(
        const std::chrono::steady_clock::duration &_time) = 0;
 
      public: virtual VisualPtr RootVisual() const = 0;
 
      public: virtual VisualPtr VisualAt(const CameraPtr &_camera,
                  const math::Vector2i &_mousePos) = 0;
 
      public: virtual math::Color AmbientLight() const = 0;
 
      public: virtual void SetAmbientLight(double _r, double _g, double _b,
                  double _a = 1.0) = 0;
 
      public: virtual void SetAmbientLight(const math::Color &_color) = 0;
 
      public: virtual math::Color BackgroundColor() const = 0;
 
      public: virtual void SetBackgroundColor(double _r, double _g, double _b,
                  double _a = 1.0) = 0;
 
      public: virtual void SetBackgroundColor(const math::Color &_color) = 0;
 
      public: virtual bool IsGradientBackgroundColor() const = 0;
 
      public: virtual std::array<math::Color, 4>
                  GradientBackgroundColor() const = 0;
 
      public: virtual void SetGradientBackgroundColor(
                  const std::array<math::Color, 4> &_colors) = 0;
 
      public: virtual void RemoveGradientBackgroundColor() = 0;
 
      public: virtual MaterialPtr BackgroundMaterial() const = 0;
 
      public: virtual void SetBackgroundMaterial(MaterialPtr _material) = 0;
 
      public: virtual unsigned int NodeCount() const = 0;
 
      public: virtual bool HasNode(ConstNodePtr _node) const = 0;
 
      public: virtual bool HasNodeId(unsigned int _id) const = 0;
 
      public: virtual bool HasNodeName(const std::string &_name) const = 0;
 
      public: virtual NodePtr NodeById(unsigned int _id) const = 0;
 
      public: virtual NodePtr NodeByName(const std::string &_name) const = 0;
 
      public: virtual NodePtr NodeByIndex(unsigned int _index) const = 0;
 
      public: virtual void DestroyNode(NodePtr _node,
          bool _recursive = false) = 0;
 
      public: virtual void DestroyNodeById(unsigned int _id) = 0;
 
      public: virtual void DestroyNodeByName(const std::string &_name) = 0;
 
      public: virtual void DestroyNodeByIndex(unsigned int _index) = 0;
 
      public: virtual void DestroyNodes() = 0;
 
      public: virtual unsigned int LightCount() const = 0;
 
      public: virtual bool HasLight(ConstLightPtr _light) const = 0;
 
      public: virtual bool HasLightId(unsigned int _id) const = 0;
 
      public: virtual bool HasLightName(const std::string &_name) const = 0;
 
      public: virtual LightPtr LightById(unsigned int _id) const = 0;
 
      public: virtual LightPtr LightByName(
                  const std::string &_name) const = 0;
 
      public: virtual LightPtr LightByIndex(unsigned int _index) const = 0;
 
      public: virtual void DestroyLight(LightPtr _light,
          bool _recursive = false) = 0;
 
      public: virtual void DestroyLightById(unsigned int _id) = 0;
 
      public: virtual void DestroyLightByName(const std::string &_name) = 0;
 
      public: virtual void DestroyLightByIndex(unsigned int _index) = 0;
 
      public: virtual void DestroyLights() = 0;
 
      public: virtual unsigned int SensorCount() const = 0;
 
      public: virtual bool HasSensor(ConstSensorPtr _sensor) const = 0;
 
      public: virtual bool HasSensorId(unsigned int _id) const = 0;
 
      public: virtual bool HasSensorName(const std::string &_name) const = 0;
 
      public: virtual SensorPtr SensorById(unsigned int _id) const = 0;
 
      public: virtual SensorPtr SensorByName(
                  const std::string &_name) const = 0;
 
      public: virtual SensorPtr SensorByIndex(unsigned int _index) const = 0;
 
      public: virtual void DestroySensor(SensorPtr _sensor,
          bool _recursive = false) = 0;
 
      public: virtual void DestroySensorById(unsigned int _id) = 0;
 
      public: virtual void DestroySensorByName(const std::string &_name) = 0;
 
      public: virtual void DestroySensorByIndex(unsigned int _index) = 0;
 
      public: virtual void DestroySensors() = 0;
 
      public: virtual unsigned int VisualCount() const = 0;
 
      public: virtual bool HasVisual(ConstVisualPtr _node) const = 0;
 
      public: virtual bool HasVisualId(unsigned int _id) const = 0;
 
      public: virtual bool HasVisualName(const std::string &_name) const = 0;
 
      public: virtual VisualPtr VisualById(unsigned int _id) const = 0;
 
      public: virtual VisualPtr VisualByName(
                  const std::string &_name) const = 0;
 
      public: virtual VisualPtr VisualByIndex(unsigned int _index) const = 0;
 
      public: virtual void DestroyVisual(VisualPtr _node,
          bool _recursive = false) = 0;
 
      public: virtual void DestroyVisualById(unsigned int _id) = 0;
 
      public: virtual void DestroyVisualByName(const std::string &_name) = 0;
 
      public: virtual void DestroyVisualByIndex(unsigned int _index) = 0;
 
      public: virtual void DestroyVisuals() = 0;
 
      public: virtual bool MaterialRegistered(
                  const std::string &_name) const = 0;
 
      public: virtual MaterialPtr Material(
                  const std::string &_name) const = 0;
 
      public: virtual void RegisterMaterial(const std::string &_name,
                  MaterialPtr _material) = 0;
 
      public: virtual void UnregisterMaterial(const std::string &_name) = 0;
 
      public: virtual void UnregisterMaterials() = 0;
 
      public: virtual void DestroyMaterial(MaterialPtr _material) = 0;
 
      public: virtual void DestroyMaterials() = 0;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight() = 0;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  unsigned int _id) = 0;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  const std::string &_name) = 0;
 
      public: virtual DirectionalLightPtr CreateDirectionalLight(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual PointLightPtr CreatePointLight() = 0;
 
      public: virtual PointLightPtr CreatePointLight(
                  unsigned int _id) = 0;
 
      public: virtual PointLightPtr CreatePointLight(
                  const std::string &_name) = 0;
 
      public: virtual PointLightPtr CreatePointLight(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual SpotLightPtr CreateSpotLight() = 0;
 
      public: virtual SpotLightPtr CreateSpotLight(
                  unsigned int _id) = 0;
 
      public: virtual SpotLightPtr CreateSpotLight(
                  const std::string &_name) = 0;
 
      public: virtual SpotLightPtr CreateSpotLight(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual CameraPtr CreateCamera() = 0;
 
      public: virtual CameraPtr CreateCamera(
                  unsigned int _id) = 0;
 
      public: virtual CameraPtr CreateCamera(
                  const std::string &_name) = 0;
 
      public: virtual CameraPtr CreateCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual DepthCameraPtr CreateDepthCamera() = 0;
 
      public: virtual DepthCameraPtr CreateDepthCamera(
                  unsigned int _id) = 0;
 
      public: virtual DepthCameraPtr CreateDepthCamera(
                  const std::string &_name) = 0;
 
      public: virtual DepthCameraPtr CreateDepthCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual ThermalCameraPtr CreateThermalCamera() = 0;
 
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  unsigned int _id) = 0;
 
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  const std::string &_name) = 0;
 
      public: virtual ThermalCameraPtr CreateThermalCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera() = 0;
 
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
                  unsigned int _id) = 0;
 
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
                  const std::string &_name) = 0;
 
      public: virtual BoundingBoxCameraPtr CreateBoundingBoxCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual SegmentationCameraPtr CreateSegmentationCamera() = 0;
 
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
                  unsigned int _id) = 0;
 
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
                  const std::string &_name) = 0;
 
      public: virtual SegmentationCameraPtr CreateSegmentationCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual WideAngleCameraPtr CreateWideAngleCamera() = 0;
 
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
                  unsigned int _id) = 0;
 
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
                  const std::string &_name) = 0;
 
      public: virtual WideAngleCameraPtr CreateWideAngleCamera(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual GpuRaysPtr CreateGpuRays() = 0;
 
      public: virtual GpuRaysPtr CreateGpuRays(unsigned int _id) = 0;
 
      public: virtual GpuRaysPtr CreateGpuRays(
                  const std::string &_name) = 0;
 
      public: virtual GpuRaysPtr CreateGpuRays(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual VisualPtr CreateVisual() = 0;
 
      public: virtual VisualPtr CreateVisual(
                  unsigned int _id) = 0;
 
      public: virtual VisualPtr CreateVisual(
                  const std::string &_name) = 0;
 
      public: virtual VisualPtr CreateVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual ArrowVisualPtr CreateArrowVisual() = 0;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(
                  unsigned int _id) = 0;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(
                  const std::string &_name) = 0;
 
      public: virtual ArrowVisualPtr CreateArrowVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual AxisVisualPtr CreateAxisVisual() = 0;
 
      public: virtual AxisVisualPtr CreateAxisVisual(
                  unsigned int _id) = 0;
 
      public: virtual AxisVisualPtr CreateAxisVisual(
                  const std::string &_name) = 0;
 
      public: virtual AxisVisualPtr CreateAxisVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual GizmoVisualPtr CreateGizmoVisual() = 0;
 
      public: virtual GizmoVisualPtr CreateGizmoVisual(
                  unsigned int _id) = 0;
 
      public: virtual GizmoVisualPtr CreateGizmoVisual(
                  const std::string &_name) = 0;
 
      public: virtual GizmoVisualPtr CreateGizmoVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual COMVisualPtr CreateCOMVisual() = 0;
 
      public: virtual COMVisualPtr CreateCOMVisual(
                  unsigned int _id) = 0;
 
      public: virtual COMVisualPtr CreateCOMVisual(
                  const std::string &_name) = 0;
 
      public: virtual COMVisualPtr CreateCOMVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual InertiaVisualPtr CreateInertiaVisual() = 0;
 
      public: virtual InertiaVisualPtr CreateInertiaVisual(
                  unsigned int _id) = 0;
 
      public: virtual InertiaVisualPtr CreateInertiaVisual(
                  const std::string &_name) = 0;
 
      public: virtual InertiaVisualPtr CreateInertiaVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual JointVisualPtr CreateJointVisual() = 0;
 
      public: virtual JointVisualPtr CreateJointVisual(
                  unsigned int _id) = 0;
 
      public: virtual JointVisualPtr CreateJointVisual(
                  const std::string &_name) = 0;
 
      public: virtual JointVisualPtr CreateJointVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual LightVisualPtr CreateLightVisual() = 0;
 
      public: virtual LightVisualPtr CreateLightVisual(
                  unsigned int _id) = 0;
 
      public: virtual LightVisualPtr CreateLightVisual(
                  const std::string &_name) = 0;
 
      public: virtual LightVisualPtr CreateLightVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual GeometryPtr CreateBox() = 0;
 
      public: virtual CapsulePtr CreateCapsule() = 0;
 
      public: virtual GeometryPtr CreateCone() = 0;
 
      public: virtual GeometryPtr CreateCylinder() = 0;
 
      public: virtual GeometryPtr CreatePlane() = 0;
 
      public: virtual GeometryPtr CreateSphere() = 0;
 
      public: virtual MeshPtr CreateMesh(const std::string &_meshName) = 0;
 
      public: virtual MeshPtr CreateMesh(const common::Mesh *_mesh) = 0;
 
      public: virtual MeshPtr CreateMesh(const MeshDescriptor &_desc) = 0;
 
      public: virtual GridPtr CreateGrid() = 0;
 
      public: virtual WireBoxPtr CreateWireBox() = 0;
 
      public: virtual MarkerPtr CreateMarker() = 0;
 
      public: virtual LidarVisualPtr CreateLidarVisual() = 0;
 
      public: virtual LidarVisualPtr CreateLidarVisual(unsigned int _id) = 0;
 
      public: virtual LidarVisualPtr CreateLidarVisual(
                  const std::string &_name) = 0;
 
      public: virtual LidarVisualPtr CreateLidarVisual(
                  unsigned int _id, const std::string &_name) = 0;
 
 
 
 
 
      public: virtual HeightmapPtr CreateHeightmap(
          const HeightmapDescriptor &_desc) = 0;
 
      public: virtual TextPtr CreateText() = 0;
 
      public: virtual MaterialPtr CreateMaterial(const std::string &_name = "")
                  = 0;
 
      public: virtual MaterialPtr CreateMaterial(
                  const common::Material &_material) = 0;
 
      public: virtual RenderTexturePtr CreateRenderTexture() = 0;
 
      public: virtual RenderWindowPtr CreateRenderWindow() = 0;
 
      public: virtual RayQueryPtr CreateRayQuery() = 0;
 
      public: virtual ParticleEmitterPtr CreateParticleEmitter() = 0;
 
      public: virtual ParticleEmitterPtr CreateParticleEmitter(
                  unsigned int _id) = 0;
 
      public: virtual ParticleEmitterPtr CreateParticleEmitter(
                  const std::string &_name) = 0;
 
      public: virtual ParticleEmitterPtr CreateParticleEmitter(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual ProjectorPtr CreateProjector() = 0;
 
      public: virtual ProjectorPtr CreateProjector(
                 unsigned int _id) = 0;
 
      public: virtual ProjectorPtr CreateProjector(
                  const std::string &_name) = 0;
 
      public: virtual ProjectorPtr CreateProjector(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual GlobalIlluminationVctPtr
                  CreateGlobalIlluminationVct() = 0;
 
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  unsigned int _id) = 0;
 
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  const std::string &_name) = 0;
 
      public: virtual GlobalIlluminationVctPtr CreateGlobalIlluminationVct(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual GlobalIlluminationCiVctPtr
                  CreateGlobalIlluminationCiVct() = 0;
 
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  unsigned int _id) = 0;
 
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  const std::string &_name) = 0;
 
      public: virtual GlobalIlluminationCiVctPtr CreateGlobalIlluminationCiVct(
                  unsigned int _id, const std::string &_name) = 0;
 
      public: virtual void SetSkyEnabled(bool _enabled) = 0;
 
      public: virtual bool SkyEnabled() const = 0;
 
      public: virtual bool SetShadowTextureSize(LightType _lightType,
                  unsigned int _textureSize) = 0;
 
      public: virtual unsigned int ShadowTextureSize(LightType _lightType)
                  const = 0;
 
      public: virtual void SetActiveGlobalIllumination(
                GlobalIlluminationBasePtr _gi) = 0;
 
      public: virtual void PreRender() = 0;
 
      public: virtual void PostRender() = 0;
 
      public: virtual void SetCameraPassCountPerGpuFlush(uint8_t _numPass) = 0;
 
      public: virtual uint8_t CameraPassCountPerGpuFlush() const = 0;
 
      public: virtual bool LegacyAutoGpuFlush() const = 0;
 
      public: virtual void Clear() = 0;
 
      public: virtual void Destroy() = 0;
 
      public: SceneExt *Extension() const;
 
      protected: void SetExtension(SceneExt *_ext);
    };
    }
  }
}
#endif