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BaseFrustumVisual< T > Class Template Reference

Base implementation of a Frustum Visual. More...

#include <BaseFrustumVisual.hh>

Public Member Functions

virtual ~BaseFrustumVisual ()
 
virtual double AspectRatio () const override
 Get the aspect ratio, which is the width divided by height of the near or far planes.
 
virtual void CreateMaterials ()
 Create predefined materials for lidar visual.
 
virtual void Destroy () override
 Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.
 
virtual double FarClipPlane () const override
 Get the far distance. This is the distance from the frustum's vertex to the farthest plane.
 
virtual math::Angle HFOV () const override
 Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
 
virtual void Init () override
 
virtual double NearClipPlane () const override
 Get the near distance. This is the distance from the frustum's vertex to the closest plane.
 
virtual gz::math::Planed Plane (const FrustumVisualPlane _plane) const override
 Get a plane of the frustum.
 
virtual void PreRender () override
 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.
 
virtual void SetAspectRatio (double _aspectRatio) override
 Set the aspect ratio, which is the width divided by height of the near or far planes.
 
virtual void SetFarClipPlane (double _far) override
 Set the far distance. This is the distance from the frustum's vertex to the farthest plane.
 
virtual void SetHFOV (const math::Angle &_hfov) override
 Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.
 
virtual void SetNearClipPlane (double _near) override
 Set the near distance. This is the distance from the frustum's vertex to the closest plane.
 
virtual void Update () override
 Update the Visual.
 
- Public Member Functions inherited from FrustumVisual
virtual ~FrustumVisual ()
 Destructor.
 
- Public Member Functions inherited from Visual
virtual ~Visual ()
 Destructor.
 
virtual void AddGeometry (GeometryPtr _geometry)=0
 Add the given geometry to this visual. If the given node is already attached, no work will be done.
 
virtual void AddVisibilityFlags (uint32_t _flags)=0
 Add visibility flags.
 
virtual gz::math::AxisAlignedBox BoundingBox () const =0
 Get the bounding box in world frame coordinates.
 
virtual VisualPtr Clone (const std::string &_name, NodePtr _newParent) const =0
 Clone the visual (and its children) with a new name.
 
virtual GeometryPtr GeometryByIndex (unsigned int _index) const =0
 Get geometry at given index. If no geometry exists at given index, NULL will be returned.
 
virtual unsigned int GeometryCount () const =0
 Get the number of geometries attached to this visual.
 
virtual bool HasGeometry (ConstGeometryPtr _geometry) const =0
 Determine if given geometry is attached to this visual.
 
virtual gz::math::AxisAlignedBox LocalBoundingBox () const =0
 Get the local bounding box of the visual.
 
virtual MaterialPtr Material () const =0
 Get the material assigned to attached visuals and geometries.
 
virtual void RemoveGeometries ()=0
 Remove all attached geometries from this visual.
 
virtual GeometryPtr RemoveGeometry (GeometryPtr _geometry)=0
 Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done.
 
virtual GeometryPtr RemoveGeometryByIndex (unsigned int _index)=0
 Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done.
 
virtual void RemoveVisibilityFlags (uint32_t _flags)=0
 Remove visibility flags.
 
virtual void SetChildMaterial (MaterialPtr _material, bool _unique=true)=0
 Set the material for all attached visuals only.
 
virtual void SetGeometryMaterial (MaterialPtr _material, bool _unique=true)=0
 Set the material for all attached geometries only.
 
virtual void SetMaterial (const std::string &_name, bool _unique=true)=0
 Set the material for all attached visuals and geometries. The specified material will be retrieved from Scene::Material using the given material name. If no material is registered with the given name, no work will be done.
 
virtual void SetMaterial (MaterialPtr _material, bool _unique=true)=0
 Set the material for all attached visuals and geometries.
 
virtual void SetStatic (bool _static)=0
 Tells Render Engine this Visual will be static (i.e. won't move, rotate or scale) You can still move, rotate or scale the Visual; however doing so has a performance impact. How much of an impact will depend on the rendering backend being used.
 
virtual void SetVisibilityFlags (uint32_t _flags)=0
 Set visibility flags.
 
virtual void SetVisible (bool _visible)=0
 Specify if this visual is visible.
 
virtual void SetWireframe (bool _show)=0
 Enable or disable wireframe.
 
virtual bool Static () const =0
 Get whether the visual is static.
 
virtual uint32_t VisibilityFlags () const =0
 Get visibility flags.
 
virtual bool Wireframe () const =0
 Get whether wireframe is enabled for this visual.
 
- Public Member Functions inherited from Node
virtual ~Node ()
 Destructor.
 
virtual void AddChild (NodePtr _child)=0
 Add the given node to this node. If the given node is already a child, no work will be done.
 
virtual NodePtr ChildById (unsigned int _id) const =0
 Get node with given ID. If no child exists with given ID, NULL will be returned.
 
virtual NodePtr ChildByIndex (unsigned int _index) const =0
 Get node at given index. If no child exists at given index, NULL will be returned.
 
virtual NodePtr ChildByName (const std::string &_name) const =0
 Get node with given name. If no child exists with given name, NULL will be returned.
 
virtual unsigned int ChildCount () const =0
 Get number of child nodes.
 
virtual bool HasChild (ConstNodePtr _child) const =0
 Determine if given node is an attached child.
 
virtual bool HasChildId (unsigned int _id) const =0
 Determine if node with given ID is an attached child.
 
virtual bool HasChildName (const std::string &_name) const =0
 Determine if node with given name is an attached child.
 
virtual bool HasParent () const =0
 Determine if this Node is attached to another Node.
 
virtual bool HasUserData (const std::string &_key) const =0
 Check if node has custom data.
 
virtual bool InheritScale () const =0
 Determine if this node inherits scale from this parent.
 
virtual math::Pose3d InitialLocalPose () const =0
 Get the initial local pose.
 
virtual math::Pose3d LocalPose () const =0
 Get the local pose.
 
virtual math::Vector3d LocalPosition () const =0
 Get the local position.
 
virtual math::Quaterniond LocalRotation () const =0
 Get the local rotation.
 
virtual math::Vector3d LocalScale () const =0
 Get the local scale.
 
virtual math::Vector3d Origin () const =0
 Get position of origin.
 
virtual NodePtr Parent () const =0
 Get the parent Node.
 
virtual NodePtr RemoveChild (NodePtr _child)=0
 Remove (detach) the given node from this node. If the given node is not a child of this node, no work will be done.
 
virtual NodePtr RemoveChildById (unsigned int _id)=0
 Remove (detach) the node with the given ID from this node. If the specified node is not a child of this node, no work will be done.
 
virtual NodePtr RemoveChildByIndex (unsigned int _index)=0
 Remove (detach) the node at the given index from this node. If the specified node is not a child of this node, no work will be done.
 
virtual NodePtr RemoveChildByName (const std::string &_name)=0
 Remove (detach) the node with the given name from this node. If the specified node is not a child of this node, no work will be done.
 
virtual void RemoveChildren ()=0
 Remove all child nodes from this node This detaches all the child nodes but does not destroy them.
 
virtual void RemoveParent ()=0
 Detach this Node from its parent. If this Node does not have a parent, no work will be done.
 
virtual void Scale (const math::Vector3d &_scale)=0
 Scale the current scale by the given scalars.
 
virtual void Scale (double _scale)=0
 Scale the current scale by the given scalar. The given scalar will be assigned to the x, y, and z coordinates.
 
virtual void Scale (double _x, double _y, double _z)=0
 Scale the current scale by the given scalars.
 
virtual void SetInheritScale (bool _inherit)=0
 Specify if this node inherits scale from its parent.
 
virtual void SetLocalPose (const math::Pose3d &_pose)=0
 Set the local pose.
 
virtual void SetLocalPosition (const math::Vector3d &_position)=0
 Set the local position.
 
virtual void SetLocalPosition (double _x, double _y, double _z)=0
 Set the local position.
 
virtual void SetLocalRotation (const math::Quaterniond &_rotation)=0
 Set the local rotation.
 
virtual void SetLocalRotation (double _r, double _p, double _y)=0
 Set the local rotation.
 
virtual void SetLocalRotation (double _w, double _x, double _y, double _z)=0
 Set the local rotation.
 
virtual void SetLocalScale (const math::Vector3d &_scale)=0
 Set the local scale.
 
virtual void SetLocalScale (double _scale)=0
 Set the local scale. The given scale will be assigned to the x, y, and z coordinates.
 
virtual void SetLocalScale (double _x, double _y, double _z)=0
 Set the local scale.
 
virtual void SetOrigin (const math::Vector3d &_origin)=0
 Set position of origin. The position should be relative to the original origin of the geometry.
 
virtual void SetOrigin (double _x, double _y, double _z)=0
 Set position of origin. The position should be relative to the original origin of the geometry.
 
virtual void SetUserData (const std::string &_key, Variant _value)=0
 Store any custom data associated with this node.
 
virtual void SetWorldPose (const math::Pose3d &_pose)=0
 Set the world pose.
 
virtual void SetWorldPosition (const math::Vector3d &_position)=0
 Set the world position.
 
virtual void SetWorldPosition (double _x, double _y, double _z)=0
 Set the world position.
 
virtual void SetWorldRotation (const math::Quaterniond &_rotation)=0
 Set the world rotation.
 
virtual void SetWorldRotation (double _r, double _p, double _y)=0
 Set the world rotation.
 
virtual void SetWorldRotation (double _w, double _x, double _y, double _z)=0
 Set the world rotation.
 
virtual void SetWorldScale (const math::Vector3d &_scale)=0
 Set the world scale.
 
virtual void SetWorldScale (double _scale)=0
 Set the world scale. The given scale will be assigned to the x, y, and z coordinates.
 
virtual void SetWorldScale (double _x, double _y, double _z)=0
 Set the world scale.
 
virtual Variant UserData (const std::string &_key) const =0
 Get custom data stored in this node.
 
virtual math::Pose3d WorldPose () const =0
 Get the world pose.
 
virtual math::Vector3d WorldPosition () const =0
 Get the world position.
 
virtual math::Quaterniond WorldRotation () const =0
 Get the world rotation.
 
virtual math::Vector3d WorldScale () const =0
 Get the world scale.
 
virtual math::Pose3d WorldToLocal (const math::Pose3d &_pose) const =0
 Convert given world pose to local pose.
 
- Public Member Functions inherited from Object
virtual ~Object ()
 Destructor.
 
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.
 
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.
 
virtual void PostRender ()=0
 Post process this object and any of its children after rendering.
 
virtual ScenePtr Scene () const =0
 Get the Scene that created this object.
 

Protected Member Functions

 BaseFrustumVisual ()
 
- Protected Member Functions inherited from FrustumVisual
 FrustumVisual ()
 Default constructor. With the following default values:
 

Protected Attributes

double aspectRatio = 1.0
 aspect ratio value
 
double farClip = 1.0
 far value
 
gz::math::Angle hfov = gz::math::Angle(0.78539)
 fov value
 
double nearClip = 0.0
 near value
 
std::array< gz::math::Planed, 6 > planes
 array of plane
 
gz::math::Pose3d pose = gz::math::Pose3d::Zero
 pose of visual
 

Detailed Description

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

Base implementation of a Frustum Visual.

Constructor & Destructor Documentation

🔗BaseFrustumVisual()

template<class T >
BaseFrustumVisual ( )
protected

🔗~BaseFrustumVisual()

template<class T >
~BaseFrustumVisual ( )
virtual

Member Function Documentation

🔗AspectRatio()

template<class T >
double AspectRatio ( ) const
overridevirtual

Get the aspect ratio, which is the width divided by height of the near or far planes.

Returns
The frustum's aspect ratio.
See also
SetAspectRatio

Implements FrustumVisual.

🔗CreateMaterials()

template<class T >
void CreateMaterials ( )
virtual

Create predefined materials for lidar visual.

References Scene::CreateMaterial().

🔗Destroy()

template<class T >
void Destroy ( )
overridevirtual

Destroy any resources associated with this object. Invoking any other functions after destroying an object will result in undefined behavior.

Implements Object.

Reimplemented in OgreFrustumVisual, and Ogre2FrustumVisual.

🔗FarClipPlane()

template<class T >
double FarClipPlane ( ) const
overridevirtual

Get the far distance. This is the distance from the frustum's vertex to the farthest plane.

Returns
Far distance.
See also
SetFarClipPlane

Implements FrustumVisual.

🔗HFOV()

template<class T >
gz::math::Angle HFOV ( ) const
overridevirtual

Get the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Returns
The field of view.
See also
SetHFOV

Implements FrustumVisual.

🔗Init()

template<class T >
void Init ( )
overridevirtual

Reimplemented in OgreFrustumVisual, and Ogre2FrustumVisual.

🔗NearClipPlane()

template<class T >
double NearClipPlane ( ) const
overridevirtual

Get the near distance. This is the distance from the frustum's vertex to the closest plane.

Returns
Near distance.
See also
SetNearClipPlane

Implements FrustumVisual.

🔗Plane()

template<class T >
gz::math::Planed Plane ( const FrustumVisualPlane  _plane) const
overridevirtual

Get a plane of the frustum.

Parameters
[in]_planeThe plane to return.
Returns
Plane of the frustum.

Implements FrustumVisual.

🔗PreRender()

template<class T >
void PreRender ( )
overridevirtual

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.

Implements Object.

Reimplemented in OgreFrustumVisual, and Ogre2FrustumVisual.

🔗SetAspectRatio()

template<class T >
void SetAspectRatio ( double  _aspectRatio)
overridevirtual

Set the aspect ratio, which is the width divided by height of the near or far planes.

Parameters
[in]_aspectRatioThe frustum's aspect ratio.
See also
AspectRatio

Implements FrustumVisual.

🔗SetFarClipPlane()

template<class T >
void SetFarClipPlane ( double  _far)
overridevirtual

Set the far distance. This is the distance from the frustum's vertex to the farthest plane.

Parameters
[in]_farFar distance.
See also
FarClipPlane

Implements FrustumVisual.

🔗SetHFOV()

template<class T >
void SetHFOV ( const math::Angle &  _hfov)
overridevirtual

Set the horizontal field of view. The field of view is the angle between the frustum's vertex and the edges of the near or far plane. This value represents the horizontal angle.

Parameters
[in]_hfovThe field of view.
See also
HFOV

Implements FrustumVisual.

🔗SetNearClipPlane()

template<class T >
void SetNearClipPlane ( double  _near)
overridevirtual

Set the near distance. This is the distance from the frustum's vertex to the closest plane.

Parameters
[in]_nearNear distance.
See also
NearClipPlane

Implements FrustumVisual.

🔗Update()

template<class T >
void Update ( )
overridevirtual

Update the Visual.

Implements FrustumVisual.

Reimplemented in OgreFrustumVisual, and Ogre2FrustumVisual.

Member Data Documentation

🔗aspectRatio

template<class T >
double aspectRatio = 1.0
protected

aspect ratio value

🔗farClip

template<class T >
double farClip = 1.0
protected

far value

🔗hfov

template<class T >
gz::math::Angle hfov = gz::math::Angle(0.78539)
protected

fov value

🔗nearClip

template<class T >
double nearClip = 0.0
protected

near value

🔗planes

template<class T >
std::array<gz::math::Planed, 6> planes
protected

array of plane

🔗pose

template<class T >
gz::math::Pose3d pose = gz::math::Pose3d::Zero
protected

pose of visual

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