Represents a visual node in a scene graph. A Visual is the only node that can have Geometry and other Visual children. More...

#include <gz/rendering/Visual.hh>

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

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 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.

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

Detailed Description

Represents a visual node in a scene graph. A Visual is the only node that can have Geometry and other Visual children.

Constructor & Destructor Documentation

◆ ~Visual()

virtual ~Visual ( )

virtual

Destructor.

Member Function Documentation

◆ AddGeometry()

virtual void AddGeometry ( GeometryPtr _geometry )

pure virtual

Add the given geometry to this visual. If the given node is already attached, no work will be done.

Parameters

[in] _geometry Geometry to be added

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ AddVisibilityFlags()

virtual void AddVisibilityFlags ( uint32_t _flags )

pure virtual

Add visibility flags.

Parameters

[in] _flags Visibility flags

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ BoundingBox()

virtual gz::math::AxisAlignedBox BoundingBox ( ) const

pure virtual

Get the bounding box in world frame coordinates.

Returns: The axis aligned bounding box

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreVisual, and Ogre2Visual.

◆ Clone()

virtual VisualPtr Clone	(	const std::string &	_name,
		NodePtr	_newParent
	)		const

pure virtual

Clone the visual (and its children) with a new name.

Parameters

[in]	_name	Name of the cloned Visual. Set this to an empty string to auto-generate a unique name for the cloned visual.
[in]	_newParent	Parent of the cloned Visual. Set to nullptr if the cloned visual should have no parent.

Returns: The visual. nullptr is returned if cloning failed.

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ GeometryByIndex()

virtual GeometryPtr GeometryByIndex ( unsigned int _index ) const

pure virtual

Get geometry at given index. If no geometry exists at given index, NULL will be returned.

Parameters

[in] _index Index of the desired geometry

Returns: The specified geometry

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ GeometryCount()

virtual unsigned int GeometryCount ( ) const

pure virtual

Get the number of geometries attached to this visual.

Returns: The number of geometries attached to this visual

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ HasGeometry()

virtual bool HasGeometry ( ConstGeometryPtr _geometry ) const

pure virtual

Determine if given geometry is attached to this visual.

Parameters

[in] _geometry Geometry in question

Returns: True if given node is attached to this visual

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ LocalBoundingBox()

virtual gz::math::AxisAlignedBox LocalBoundingBox ( ) const

pure virtual

Get the local bounding box of the visual.

Returns: The local bounding box

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreVisual, and Ogre2Visual.

◆ Material()

virtual MaterialPtr Material ( ) const

pure virtual

Get the material assigned to attached visuals and geometries.

Returns: the Pointer to the material assigned to this visual. If the material is cloned at the time it is set to this visual, the cloned material will be returned.

Implemented in BaseParticleEmitter< T >, BaseParticleEmitter< Ogre2Visual >, BaseParticleEmitter< OgreVisual >, BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreCOMVisual, OgreInertiaVisual, OgreLightVisual, Ogre2COMVisual, Ogre2InertiaVisual, and Ogre2LightVisual.

◆ RemoveGeometries()

virtual void RemoveGeometries ( )

pure virtual

Remove all attached geometries from this visual.

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ RemoveGeometry()

virtual GeometryPtr RemoveGeometry ( GeometryPtr _geometry )

pure virtual

Remove the given geometry from this visual. If the given node is not a child of this visual, no work will be done.

Parameters

[in] _geometry Geometry to be removed

Returns: The removed geometry

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ RemoveGeometryByIndex()

virtual GeometryPtr RemoveGeometryByIndex ( unsigned int _index )

pure virtual

Remove the geometry at the given index from this visual. If the specified node is not attached this visual, no work will be done.

Parameters

[in] _index Index of the geometry to be removed

Returns: The removed geometry

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ RemoveVisibilityFlags()

virtual void RemoveVisibilityFlags ( uint32_t _flags )

pure virtual

Remove visibility flags.

Parameters

[in] _flags Visibility flags

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ SetChildMaterial()

virtual void SetChildMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

pure virtual

Set the material for all attached visuals only.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ SetGeometryMaterial()

virtual void SetGeometryMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

pure virtual

Set the material for all attached geometries only.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ SetMaterial() [1/2]

virtual void SetMaterial	(	const std::string &	_name,
		bool	_unique = `true`
	)

pure virtual

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.

Parameters

[in]	_name	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ SetMaterial() [2/2]

virtual void SetMaterial	(	MaterialPtr	_material,
		bool	_unique = `true`
	)

pure virtual

Set the material for all attached visuals and geometries.

Parameters

[in]	_material	Name of the material to be assigned
[in]	_unique	True if the specified material should be cloned

Implemented in OgreCOMVisual, OgreInertiaVisual, OgreLightVisual, Ogre2COMVisual, Ogre2InertiaVisual, Ogre2LightVisual, BaseParticleEmitter< T >, BaseParticleEmitter< Ogre2Visual >, BaseParticleEmitter< OgreVisual >, BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, and Ogre2ParticleEmitter.

◆ SetStatic()

virtual void SetStatic ( bool _static )

pure virtual

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.

Remarks: Performance impact of switching staticness depends on on engine. In ogre2 it isn't expensive but it isn't free either. Try to minimize transitions. Raytracing engines may rely on this information for their BVH structures TODO(anyone): Staticness should be ideally be supplied during construction for maximum performance; ogre2 specific: OgreNext keeps 2 lists of objects. Dynamic and Static. Every frame OgreNext iterates through all nodes & items in the dynamic lists and forcefully updates them (regardless of whether they have actually changed). This may sound slow but Ogre 1.x worked by only updating those objects that have changed, and it was slower. CPUs care a lot more about processing in bulk and having all the data hot in cache.

For the static list, it only iterates through the entire list in that frame when the whole list is tagged as dirty. If one element changes, then the whole list is dirty (OgreNext might be able to optimize it and only update a part of the list by narrowing).

Changing a static node transform implies calling OgreNext's notifyStaticDirty. This is very cheap so it can be called whenever a static object changes. The only thing that needs to be taken into account is that notifyStaticDirty should be called as little as possible. And by "as little as possible" that means ideally it should not be called ever except when loading a scene or when something relevant changed. If it gets called e.g. once per frame or more then it's the same as having all objects dynamic.

Thus if an object is static, make sure you don't keep moving around because it negates the performance of all static objects.

Remarks: (INTERNAL) For implementations: Dynamic Scene Node + Dynamic MovableObject = Valid Static Scene Node + Static MovableObject = Valid Static Scene Node + Dynamic MovableObject = Valid, but rarely makes sense Dynamic Scene Node + Static MovableObject = Invalid

Parameters

[in] _static True if this visual should be made static

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, and Ogre2Visual.

◆ SetVisibilityFlags()

virtual void SetVisibilityFlags ( uint32_t _flags )

pure virtual

Set visibility flags.

Parameters

[in] _flags Visibility flags

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreVisual, and Ogre2Visual.

◆ SetVisible()

virtual void SetVisible ( bool _visible )

pure virtual

Specify if this visual is visible.

Parameters

[in] _visible True if this visual should be made visible

Implemented in BaseArrowVisual< T >, BaseArrowVisual< Ogre2Visual >, BaseArrowVisual< OgreVisual >, BaseAxisVisual< T >, BaseAxisVisual< Ogre2Visual >, BaseAxisVisual< OgreVisual >, BaseJointVisual< T >, BaseJointVisual< Ogre2Visual >, BaseJointVisual< OgreVisual >, BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreLidarVisual, OgreVisual, Ogre2LidarVisual, and Ogre2Visual.

Referenced by BaseJointVisual< T >::SetVisible().

◆ SetWireframe()

virtual void SetWireframe ( bool _show )

pure virtual

Enable or disable wireframe.

Parameters

[in] _show True to enable wireframe

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreVisual, and Ogre2Visual.

◆ Static()

virtual bool Static ( ) const

pure virtual

Get whether the visual is static.

Returns: True if the visual is static, false otherwise

See also: SetStatic

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, and Ogre2Visual.

◆ VisibilityFlags()

virtual uint32_t VisibilityFlags ( ) const

pure virtual

Get visibility flags.

Returns: visibility flags

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, and BaseVisual< OgreNode >.

◆ Wireframe()

virtual bool Wireframe ( ) const

pure virtual

Get whether wireframe is enabled for this visual.

Returns: True if wireframe is enabled for this visual.

Implemented in BaseVisual< T >, BaseVisual< Ogre2Node >, BaseVisual< OgreNode >, OgreVisual, and Ogre2Visual.

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

Visual.hh

Gazebo Rendering

API Reference

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ ~Visual()

Member Function Documentation

◆ AddGeometry()

◆ AddVisibilityFlags()

◆ BoundingBox()

◆ Clone()

◆ GeometryByIndex()

◆ GeometryCount()

◆ HasGeometry()

◆ LocalBoundingBox()

◆ Material()

◆ RemoveGeometries()

◆ RemoveGeometry()

◆ RemoveGeometryByIndex()

◆ RemoveVisibilityFlags()

◆ SetChildMaterial()

◆ SetGeometryMaterial()

◆ SetMaterial() [1/2]

◆ SetMaterial() [2/2]

◆ SetStatic()

◆ SetVisibilityFlags()

◆ SetVisible()

◆ SetWireframe()

◆ Static()

◆ VisibilityFlags()

◆ Wireframe()