#include <gz/sim/gui/plugins/RenderUtil.hh>

Public Member Functions
	RenderUtil ()
	Constructor. More...

	~RenderUtil ()
	Destructor. More...

std::string	ApiBackend () const
	Get the API backend the rendering engine used. More...

void	CreateVisualsForEntities (const EntityComponentManager &_ecm, const std::set< Entity > &_entities)
	Helper function to create visuals for new entities created in ECM. This function is intended to be used by other GUI plugins when new entities are created on the GUI side. More...

void	DeselectAllEntities ()
	Clears the set of selected entities and lowlights all of them. More...

void	Destroy ()
	Destroy the renderer. Must be called in the rendering thread. More...

std::string	EngineName () const
	Get the name of the rendering engine used. More...

bool	HeadlessRendering () const
	Get the headless mode. More...

void	Init ()
	Initialize the renderer. Must be called in the rendering thread. More...

void	InitRenderEnginePluginPaths ()
	Init render engine plugins paths. This lets gz-rendering know paths to find render engine plugins. More...

class MarkerManager &	MarkerManager ()
	Get the marker manager Returns reference to the marker manager. More...

int	PendingSensors () const
	Count of pending sensors. Must be called in the rendering thread. More...

rendering::ScenePtr	Scene () const
	Get a pointer to the scene. More...

class SceneManager &	SceneManager ()
	Get the scene manager Returns reference to the scene manager. More...

std::string	SceneName () const
	Get the name of the rendering scene used. More...

const std::vector< Entity > &	SelectedEntities () const
	Get the entities currently selected, in order of selection. More...

void	SetAmbientLight (const math::Color &_ambient)
	Set ambient light of render window. This will override other sources, such as from SDF. More...

void	SetApiBackend (const std::string &_apiBackend)
	Set the API backend the rendering engine will use. More...

void	SetBackgroundColor (const math::Color &_color)
	Set background color of render window. This will override other sources, such as from SDF. More...

void	SetEnableSensors (bool _enable, std::function< std::string(const sim::Entity &, const sdf::Sensor &, const std::string &)> _createSensorCb={})
	Set whether to create rendering sensors. More...

void	SetEngineName (const std::string &_engineName)
	Set the rendering engine to use. More...

void	SetEventManager (EventManager *_mgr)
	Set the event manager to use. More...

void	SetHeadlessRendering (const bool &_headless)
	Set the headless mode. More...

void	SetRemoveSensorCb (std::function< void(const sim::Entity &)> _removeSensorCb)
	Set the callback function for removing the sensors. More...

void	SetScene (const rendering::ScenePtr &_scene)
	Set the scene to use. More...

void	SetSceneName (const std::string &_sceneName)
	Set the scene to use. More...

void	SetSelectedEntity (const rendering::NodePtr &_node)
	Set the entity being selected. More...

void	SetSkyEnabled (bool _enabled)
	Set whether to enable sky in the scene. More...

void	SetTransformActive (bool _active)
	Set whether the transform controls are currently being dragged. More...

void	SetUseCurrentGLContext (bool _enable)
	Set whether to use the current GL context. More...

void	SetWinID (const std::string &_winID)
	Set the Window ID. More...

void	ShowGrid ()
	Show grid view in the scene. More...

std::chrono::steady_clock::duration	SimTime () const
	Get simulation time that the current rendering state corresponds to. More...

void	Update ()
	Main update function. Must be called in the rendering thread. More...

void	UpdateECM (const UpdateInfo &_info, EntityComponentManager &_ecm)
	Helper Update function for updating the scene. More...

void	UpdateFromECM (const UpdateInfo &_info, const EntityComponentManager &_ecm)
	Helper PostUpdate function for updating the scene. More...

void	ViewCollisions (const Entity &_entity)
	View collisions of specified entity which are shown in orange. More...

void	ViewCOM (const Entity &_entity)
	View center of mass of specified entity. More...

void	ViewInertia (const Entity &_entity)
	View inertia of specified entity. More...

void	ViewJoints (const Entity &_entity)
	View joints of specified entity. More...

void	ViewTransparent (const Entity &_entity)
	View an entity as transparent. More...

void	ViewWireframes (const Entity &_entity)
	View wireframes of specified entity. More...

Constructor & Destructor Documentation

◆ RenderUtil()

RenderUtil ( )

explicit

Constructor.

◆ ~RenderUtil()

~RenderUtil ( )

Destructor.

Member Function Documentation

◆ ApiBackend()

std::string ApiBackend ( ) const

Get the API backend the rendering engine used.

Returns: Name of the API backend. May be empty.

◆ CreateVisualsForEntities()

void CreateVisualsForEntities	(	const EntityComponentManager &	_ecm,
		const std::set< Entity > &	_entities
	)

Helper function to create visuals for new entities created in ECM. This function is intended to be used by other GUI plugins when new entities are created on the GUI side.

Parameters

[in]	_ecm	Const reference to the entity component manager
[in]	_entities	Entities to create visuals for.

◆ DeselectAllEntities()

void DeselectAllEntities ( )

Clears the set of selected entities and lowlights all of them.

◆ Destroy()

void Destroy ( )

Destroy the renderer. Must be called in the rendering thread.

◆ EngineName()

std::string EngineName ( ) const

Get the name of the rendering engine used.

Returns: Name of the rendering engine

◆ HeadlessRendering()

bool HeadlessRendering ( ) const

Get the headless mode.

Returns: True if headless mode is enable, false otherwise.

◆ Init()

void Init ( )

Initialize the renderer. Must be called in the rendering thread.

◆ InitRenderEnginePluginPaths()

void InitRenderEnginePluginPaths ( )

Init render engine plugins paths. This lets gz-rendering know paths to find render engine plugins.

◆ MarkerManager()

class MarkerManager& MarkerManager ( )

Get the marker manager Returns reference to the marker manager.

◆ PendingSensors()

int PendingSensors ( ) const

Count of pending sensors. Must be called in the rendering thread.

Returns: Number of sensors to be added on the next Update call

In the case that RenderUtil has not been initialized, this method will return -1.

◆ Scene()

rendering::ScenePtr Scene ( ) const

Get a pointer to the scene.

Returns: Pointer to the scene

◆ SceneManager()

class SceneManager& SceneManager ( )

Get the scene manager Returns reference to the scene manager.

◆ SceneName()

std::string SceneName ( ) const

Get the name of the rendering scene used.

Returns: Name of the rendering scene.

◆ SelectedEntities()

const std::vector<Entity>& SelectedEntities ( ) const

Get the entities currently selected, in order of selection.

Returns: Vector of currently selected entities

◆ SetAmbientLight()

void SetAmbientLight ( const math::Color & _ambient )

Set ambient light of render window. This will override other sources, such as from SDF.

Parameters

[in] _ambient Color of ambient light

◆ SetApiBackend()

void SetApiBackend ( const std::string & _apiBackend )

Set the API backend the rendering engine will use.

Parameters

[in] _apiBackend Name of the api backend. See –render-engine-server-api-backend for possible options

◆ SetBackgroundColor()

void SetBackgroundColor ( const math::Color & _color )

Set background color of render window. This will override other sources, such as from SDF.

Parameters

[in] _color Color of render window background

◆ SetEnableSensors()

void SetEnableSensors	(	bool	_enable,
		std::function< std::string(const sim::Entity &, const sdf::Sensor &, const std::string &)>	_createSensorCb = `{}`
	)

Set whether to create rendering sensors.

Parameters

[in]	_enable	True to create rendering sensors
[in]	_createSensorCb	Callback function for creating the sensors The callback function args are: sensor entity, sensor sdf and parent name, it returns the name of the rendering sensor created.

◆ SetEngineName()

void SetEngineName ( const std::string & _engineName )

Set the rendering engine to use.

Parameters

[in] _engineName Name of the rendering engine.

◆ SetEventManager()

void SetEventManager ( EventManager * _mgr )

Set the event manager to use.

Parameters

[in] _mgr Event manager to set to.

◆ SetHeadlessRendering()

void SetHeadlessRendering ( const bool & _headless )

Set the headless mode.

Parameters

[in] _headless Set to true to enable headless mode.

◆ SetRemoveSensorCb()

void SetRemoveSensorCb ( std::function< void(const sim::Entity &)> _removeSensorCb )

Set the callback function for removing the sensors.

Parameters

[in] _removeSensorCb Callback function for removing the sensors The callback function arg is the sensor entity to remove

◆ SetScene()

void SetScene ( const rendering::ScenePtr & _scene )

Set the scene to use.

Parameters

[in] _scene Pointer to the scene.

◆ SetSceneName()

void SetSceneName ( const std::string & _sceneName )

Set the scene to use.

Parameters

[in] _sceneName Name of the engine.

◆ SetSelectedEntity()

void SetSelectedEntity ( const rendering::NodePtr & _node )

Set the entity being selected.

Parameters

[in] _node Node representing the selected entity

◆ SetSkyEnabled()

void SetSkyEnabled ( bool _enabled )

Set whether to enable sky in the scene.

Parameters

[in] _enabled True to enable sky, false to disable sky

◆ SetTransformActive()

void SetTransformActive ( bool _active )

Set whether the transform controls are currently being dragged.

Parameters

[in] _active True if active.

◆ SetUseCurrentGLContext()

void SetUseCurrentGLContext ( bool _enable )

Set whether to use the current GL context.

Parameters

[in] _enable True to use the current GL context

◆ SetWinID()

void SetWinID ( const std::string & _winID )

Set the Window ID.

Parameters

[in] _winID Window ID

◆ ShowGrid()

void ShowGrid ( )

Show grid view in the scene.

◆ SimTime()

std::chrono::steady_clock::duration SimTime ( ) const

Get simulation time that the current rendering state corresponds to.

Returns: Simulation time.

◆ Update()

void Update ( )

Main update function. Must be called in the rendering thread.

◆ UpdateECM()

void UpdateECM	(	const UpdateInfo &	_info,
		EntityComponentManager &	_ecm
	)

Helper Update function for updating the scene.

Parameters

[in]	_info	Sim update info
[in]	_ecm	Mutable reference to the entity component manager

◆ UpdateFromECM()

void UpdateFromECM	(	const UpdateInfo &	_info,
		const EntityComponentManager &	_ecm
	)

Helper PostUpdate function for updating the scene.

◆ ViewCollisions()

void ViewCollisions ( const Entity & _entity )

View collisions of specified entity which are shown in orange.

Parameters

[in] _entity Entity to view collisions

◆ ViewCOM()

void ViewCOM ( const Entity & _entity )

View center of mass of specified entity.

Parameters

[in] _entity Entity to view center of mass

◆ ViewInertia()

void ViewInertia ( const Entity & _entity )

View inertia of specified entity.

Parameters

[in] _entity Entity to view inertia

◆ ViewJoints()

void ViewJoints ( const Entity & _entity )

View joints of specified entity.

Parameters

[in] _entity Entity to view joints

◆ ViewTransparent()

void ViewTransparent ( const Entity & _entity )

View an entity as transparent.

Parameters

[in] _entity Entity to view as transparent

◆ ViewWireframes()

void ViewWireframes ( const Entity & _entity )

View wireframes of specified entity.

Parameters

[in] _entity Entity to view wireframes

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

RenderUtil.hh

Public Member Functions

Constructor & Destructor Documentation

◆ RenderUtil()

◆ ~RenderUtil()

Member Function Documentation

◆ ApiBackend()

◆ CreateVisualsForEntities()

◆ DeselectAllEntities()

◆ Destroy()

◆ EngineName()

◆ HeadlessRendering()

◆ Init()

◆ InitRenderEnginePluginPaths()

◆ MarkerManager()

◆ PendingSensors()

◆ Scene()

◆ SceneManager()

◆ SceneName()

◆ SelectedEntities()

◆ SetAmbientLight()

◆ SetApiBackend()

◆ SetBackgroundColor()

◆ SetEnableSensors()

◆ SetEngineName()

◆ SetEventManager()

◆ SetHeadlessRendering()

◆ SetRemoveSensorCb()

◆ SetScene()

◆ SetSceneName()

◆ SetSelectedEntity()

◆ SetSkyEnabled()

◆ SetTransformActive()

◆ SetUseCurrentGLContext()

◆ SetWinID()

◆ ShowGrid()

◆ SimTime()

◆ Update()

◆ UpdateECM()

◆ UpdateFromECM()

◆ ViewCollisions()

◆ ViewCOM()

◆ ViewInertia()

◆ ViewJoints()

◆ ViewTransparent()

◆ ViewWireframes()