Util.hh

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/*
 * Copyright (C) 2019 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_SIM_UTIL_HH_
#define GZ_SIM_UTIL_HH_
 
#include <gz/msgs/entity.pb.h>
 
#include <memory>
#include <string>
#include <unordered_set>
#include <vector>
 
#include <gz/common/Mesh.hh>
#include <gz/math/AxisAlignedBox.hh>
#include <gz/math/Pose3.hh>
#include <sdf/Mesh.hh>
 
#include "gz/sim/components/Environment.hh"
#include "gz/sim/config.hh"
#include "gz/sim/Entity.hh"
#include "gz/sim/EntityComponentManager.hh"
#include "gz/sim/Export.hh"
#include "gz/sim/Types.hh"
 
 
namespace gz
{
  namespace sim
  {
    // Inline bracket to help doxygen filtering.
    inline namespace GZ_SIM_VERSION_NAMESPACE {
    //
    math::Pose3d GZ_SIM_VISIBLE worldPose(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    math::Vector3d GZ_SIM_VISIBLE relativeVel(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    std::string GZ_SIM_VISIBLE scopedName(const Entity &_entity,
      const EntityComponentManager &_ecm, const std::string &_delim = "/",
      bool _includePrefix = true);
 
    std::unordered_set<Entity> GZ_SIM_VISIBLE entitiesFromScopedName(
      const std::string &_scopedName, const EntityComponentManager &_ecm,
      Entity _relativeTo = kNullEntity,
      const std::string &_delim = "::");
 
    ComponentTypeId GZ_SIM_VISIBLE entityTypeId(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    std::string GZ_SIM_VISIBLE entityTypeStr(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    Entity GZ_SIM_VISIBLE worldEntity(const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    Entity GZ_SIM_VISIBLE worldEntity(
        const EntityComponentManager &_ecm);
 
    std::string GZ_SIM_VISIBLE removeParentScope(
        const std::string &_name, const std::string &_delim);
 
    std::string GZ_SIM_VISIBLE normalizePluginName(
      const std::string &_name);
 
    std::string GZ_SIM_VISIBLE normalizePluginFilename(
      const std::string &_filename);
 
    std::string GZ_SIM_VISIBLE asFullPath(const std::string &_uri,
        const std::string &_filePath);
 
    std::vector<std::string> GZ_SIM_VISIBLE resourcePaths();
 
    void GZ_SIM_VISIBLE addResourcePaths(
        const std::vector<std::string> &_paths = {});
 
    gz::sim::Entity GZ_SIM_VISIBLE topLevelModel(
        const Entity &_entity,
        const EntityComponentManager &_ecm);
 
    std::string GZ_SIM_VISIBLE validTopic(
        const std::vector<std::string> &_topics);
 
    std::string GZ_SIM_VISIBLE topicFromScopedName(
        const Entity &_entity,
        const EntityComponentManager &_ecm,
        bool _excludeWorld = true);
 
    std::string GZ_SIM_VISIBLE resolveSdfWorldFile(
        const std::string &_sdfFilename,
        const std::string &_fuelResourceCache = "");
 
    template <class ComponentType>
    bool enableComponent(EntityComponentManager &_ecm,
        Entity _entity,
        bool _enable = true,
        const ComponentType &_comp = ComponentType())
    {
      bool changed{false};
 
      auto exists = _ecm.Component<ComponentType>(_entity);
      if (_enable && !exists)
      {
        _ecm.CreateComponent(_entity, _comp);
        changed = true;
      }
      else if (!_enable && exists)
      {
        _ecm.RemoveComponent<ComponentType>(_entity);
        changed = true;
      }
      return changed;
    }
 
    Entity GZ_SIM_VISIBLE entityFromMsg(
      const EntityComponentManager &_ecm, const msgs::Entity &_msg);
 
    std::optional<math::Vector3d> GZ_SIM_VISIBLE sphericalCoordinates(
        Entity _entity, const EntityComponentManager &_ecm);
 
    std::optional<math::Vector3d> GZ_SIM_VISIBLE getGridFieldCoordinates(
      const EntityComponentManager &_ecm,
      const math::Vector3d& _worldPosition,
      const std::shared_ptr<components::EnvironmentalData>& _gridField);
 
    GZ_SIM_VISIBLE const common::Mesh *loadMesh(const sdf::Mesh &_meshSdf);
 
    GZ_SIM_VISIBLE const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
        const common::Mesh &_mesh);
 
    GZ_SIM_VISIBLE math::AxisAlignedBox transformAxisAlignedBox(
      const math::AxisAlignedBox & _aabb,
      const math::Pose3d & _pose);
 
    GZ_SIM_VISIBLE std::optional<math::AxisAlignedBox> meshAxisAlignedBox(
      const sdf::Mesh &_sdfMesh);
 
    GZ_SIM_VISIBLE const std::string &staticPluginPrefixStr();
 
    GZ_SIM_VISIBLE bool isStaticPlugin(const std::string &_filename);
 
    const std::string kResourcePathEnv{"GZ_SIM_RESOURCE_PATH"};
 
    const std::string kSdfPathEnv{"SDF_PATH"};
 
    const std::string kServerConfigPathEnv{"GZ_SIM_SERVER_CONFIG_PATH"};
 
    const std::string kRenderPluginPathEnv{"GZ_SIM_RENDER_ENGINE_PATH"};
 
    const std::string kStaticPluginFilenamePrefix{"static://"};
    }
  }
}
#endif