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17 #ifndef GZ_GAZEBO_RENDERUTIL_HH_
18 #define GZ_GAZEBO_RENDERUTIL_HH_
24 #include <sdf/Sensor.hh>
26 #include <gz/sim/config.hh>
27 #include <gz/sim/rendering/Export.hh>
39 inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
41 class RenderUtilPrivate;
60 public:
int PendingSensors()
const;
63 public:
void Update();
67 public: rendering::ScenePtr
Scene()
const;
70 public:
void UpdateFromECM(
const UpdateInfo &_info,
75 public:
void SetEngineName(
const std::string &_engineName);
83 public:
void SetSceneName(
const std::string &_sceneName);
92 public:
void SetBackgroundColor(
const math::Color &_color);
97 public:
void SetAmbientLight(
const math::Color &_ambient);
100 public:
void ShowGrid();
104 public:
void SetUseCurrentGLContext(
bool _enable);
113 _createSensorCb = {});
117 public:
void ViewCollisions(
const Entity &_entity);
130 public: std::chrono::steady_clock::duration SimTime()
const;
136 public:
void SetSelectedEntity(rendering::NodePtr _node);
143 EntityFromNode(
const rendering::NodePtr &_node);
148 public: rendering::NodePtr SelectedEntity()
const;
155 public:
void DeselectAllEntities();
159 public:
void SetTransformActive(
bool _active);
uint64_t Entity
An Entity identifies a single object in simulation such as a model, link, or light....
Definition: gz/sim/Entity.hh:59
#define IGN_DEPRECATED(version)
This library is part of the Ignition Robotics project.
The EntityComponentManager constructs, deletes, and returns components and entities....
Definition: gz/sim/EntityComponentManager.hh:65
Creates, deletes, and maintains marker visuals. Only the Scene class should instantiate and use this ...
Definition: gz/sim/rendering/MarkerManager.hh:38
Scene manager class for loading and managing objects in the scene.
Definition: gz/sim/rendering/SceneManager.hh:51
Information passed to systems on the update callback.
Definition: include/gz/sim/Types.hh:37
Definition: gz/sim/rendering/RenderUtil.hh:44
Component< sdf::Scene, class SceneTag, serializers::SceneSerializer > Scene
This component holds scene properties of the world.
Definition: gz/sim/components/Scene.hh:45
Component< NoData, class SensorTag > Sensor
A component that identifies an entity as being a sensor.
Definition: gz/sim/components/Sensor.hh:35