SceneManager.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_SCENEMANAGER_HH_
#define GZ_SIM_SCENEMANAGER_HH_
 
#include <map>
#include <memory>
#include <string>
#include <unordered_map>
#include <utility>
#include <vector>
 
#include <sdf/Geometry.hh>
#include <sdf/Actor.hh>
#include <sdf/Joint.hh>
#include <sdf/Light.hh>
#include <sdf/Link.hh>
#include <sdf/Material.hh>
#include <sdf/Model.hh>
#include <sdf/Visual.hh>
 
#include <gz/common/KeyFrame.hh>
#include <gz/common/Animation.hh>
#include <gz/common/graphics/Types.hh>
 
#include <gz/math/Inertial.hh>
#include <gz/math/Matrix4.hh>
#include <gz/math/Pose3.hh>
#include <gz/math/SphericalCoordinates.hh>
#include <gz/math/Vector3.hh>
 
#include <gz/msgs/particle_emitter.pb.h>
 
#include <gz/rendering/RenderTypes.hh>
 
#include <gz/sim/config.hh>
#include <gz/sim/Entity.hh>
#include <gz/sim/rendering/Export.hh>
 
namespace gz
{
namespace sim
{
// Inline bracket to help doxygen filtering.
inline namespace GZ_SIM_VERSION_NAMESPACE {
  // Forward declaration
  class SceneManagerPrivate;
 
  class AnimationUpdateData
  {
    public: std::chrono::steady_clock::duration time;
 
    public: bool loop = false;
 
    public: bool followTrajectory = false;
 
    public: common::TrajectoryInfo trajectory;
 
    public: std::string animationName;
 
    public: math::Matrix4d rootTransform;
 
    public: bool valid = false;
  };
 
  class GZ_SIM_RENDERING_VISIBLE SceneManager
  {
    public: SceneManager();
 
    public: ~SceneManager();
 
    public: void SetScene(rendering::ScenePtr _scene);
 
    public: rendering::ScenePtr Scene() const;
 
    public: void SetWorldId(Entity _id);
 
    public: Entity WorldId() const;
 
    public: void SetSphericalCoordinates(
        const math::SphericalCoordinates &_sphericalCoordinates);
 
    public: rendering::VisualPtr CreateModel(Entity _id,
        const sdf::Model &_model, Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateLink(Entity _id,
        const sdf::Link &_link, Entity _parentId = 0);
 
    public: std::vector<rendering::NodePtr> Filter(const std::string &_node,
                std::function<bool(
                  const rendering::NodePtr _nodeToFilter)> _filter) const;
 
    public: std::pair<rendering::VisualPtr, std::vector<Entity>> CopyVisual(
                Entity _id, const std::string &_visual, Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateVisual(Entity _id,
        const sdf::Visual &_visual, Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateCOMVisual(Entity _id,
        const math::Inertiald &_inertial, Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateInertiaVisual(Entity _id,
        const math::Inertiald &_inertial, Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateJointVisual(Entity _id,
        const sdf::Joint &_joint, Entity _childId = 0,
        Entity _parentId = 0);
 
    public: rendering::VisualPtr CreateCollision(Entity _id,
        const sdf::Collision &_collision, Entity _parentId = 0);
 
    public: rendering::VisualPtr VisualById(Entity _id);
 
    public: std::unordered_map<std::string, unsigned int>
        LoadAnimations(const sdf::Actor &_actor);
 
    public: void SequenceTrajectories(
        std::vector<common::TrajectoryInfo>& _trajectories,
        std::chrono::steady_clock::time_point _time);
 
    public: rendering::VisualPtr CreateActor(Entity _id,
        const sdf::Actor &_actor, const std::string &_name,
        Entity _parentId = 0);
 
    public: rendering::LightPtr CreateLight(Entity _id,
        const sdf::Light &_light, const std::string &_name, Entity _parentId);
 
    public: rendering::VisualPtr CreateLightVisual(Entity _id,
        const sdf::Light &_light, const std::string &_name, Entity _parentId);
 
    public: rendering::ParticleEmitterPtr CreateParticleEmitter(
        Entity _id, const msgs::ParticleEmitter &_emitter, Entity _parentId);
 
    public: rendering::ParticleEmitterPtr UpdateParticleEmitter(Entity _id,
        const msgs::ParticleEmitter &_emitter);
 
    public: rendering::ProjectorPtr CreateProjector(
        Entity _id, const sdf::Projector &_projector, Entity _parentId);
 
    public: bool AddSensor(Entity _simId, const std::string &_sensorName,
        Entity _parentGazeboId = 0);
 
    public: bool HasEntity(Entity _id) const;
 
    public: rendering::NodePtr NodeById(Entity _id) const;
 
    public: rendering::MeshPtr ActorMeshById(Entity _id) const;
 
    public: common::SkeletonPtr ActorSkeletonById(Entity _id) const;
 
    public: std::map<std::string, math::Matrix4d> ActorSkeletonTransformsAt(
        Entity _id, std::chrono::steady_clock::duration _time) const;
 
    public: AnimationUpdateData ActorAnimationAt(
        Entity _id, std::chrono::steady_clock::duration _time) const;
 
    public: void RemoveEntity(Entity _id);
 
    private: rendering::GeometryPtr LoadGeometry(const sdf::Geometry &_geom,
        math::Vector3d &_scale, math::Pose3d &_localPose);
 
    private: rendering::MaterialPtr LoadMaterial(
        const sdf::Material &_material);
 
    public: rendering::VisualPtr TopLevelVisual(
        const rendering::VisualPtr &_visual) const;
 
    public: rendering::NodePtr TopLevelNode(
        const rendering::NodePtr &_node) const;
 
    public: void UpdateTransparency(const rendering::NodePtr &_node,
        bool _makeTransparent);
 
    public: void UpdateJointParentPose(Entity _jointId);
 
    public: Entity UniqueId() const;
 
    public: void Clear();
 
    private: std::unique_ptr<SceneManagerPrivate> dataPtr;
  };
}
}
}
 
#endif