Enable and configure Global Illumination using VCT (Voxel Cone Tracing) More...

#include <GlobalIlluminationVct.hh>

Signals
void	DebugVisualizationModeChanged ()
	Notify debug visualization has changed.

void	EnabledChanged ()
	Notify this property has changed.

void	LightingChanged ()
	Notify fast-to-rebuild properties may have changed.

void	SettingsChanged ()
	Notify various properties may have changed.

Public Member Functions
	GlobalIlluminationVct ()
	Constructor.

	~GlobalIlluminationVct () override
	Destructor.

Q_INVOKABLE bool	Anisotropic () const
	See rendering::GlobalIlluminationVct::Anisotropic.

Q_INVOKABLE uint32_t	BounceCount () const
	See rendering::GlobalIlluminationVct::BounceCount.

Q_INVOKABLE bool	ConserveMemory () const
	See rendering::GlobalIlluminationVct::ConserveMemory.

Q_INVOKABLE uint32_t	DebugVisualizationMode () const
	See rendering::GlobalIlluminationVct::DebugVisualizationMode.

Q_INVOKABLE bool	Enabled () const
	See rendering::GlobalIlluminationVct::Enabled.

bool	eventFilter (QObject _obj, QEvent _event) override

Q_INVOKABLE bool	HighQuality () const
	See rendering::GlobalIlluminationVct::HighQuality.

void	LoadConfig (const tinyxml2::XMLElement *_pluginElem) override

bool	LoadGlobalIlluminationVct ()
	Load the scene and attach LidarVisual to the scene.

Q_INVOKABLE uint32_t	OctantCountX () const
	See rendering::GlobalIlluminationVct::OctantCount.

Q_INVOKABLE uint32_t	OctantCountY () const
	See rendering::GlobalIlluminationVct::OctantCount.

Q_INVOKABLE uint32_t	OctantCountZ () const
	See rendering::GlobalIlluminationVct::OctantCount.

Q_INVOKABLE uint32_t	ResolutionX () const
	See rendering::GlobalIlluminationVct::Resolution.

Q_INVOKABLE uint32_t	ResolutionY () const
	See rendering::GlobalIlluminationVct::Resolution.

Q_INVOKABLE uint32_t	ResolutionZ () const
	See rendering::GlobalIlluminationVct::Resolution.

Q_INVOKABLE void	SetAnisotropic (const bool _anisotropic)
	See rendering::GlobalIlluminationVct::SetAnisotropic.

Q_INVOKABLE void	SetBounceCount (const uint32_t _bounces)
	See rendering::GlobalIlluminationVct::SetBounceCount.

Q_INVOKABLE void	SetConserveMemory (const bool _conserveMemory)
	See rendering::GlobalIlluminationVct::SetConserveMemory.

Q_INVOKABLE void	SetDebugVisualizationMode (const uint32_t _visMode)
	See rendering::GlobalIlluminationVct::SetDebugVisualizationMode.

Q_INVOKABLE void	SetEnabled (const bool _enabled)
	See rendering::GlobalIlluminationVct::SetEnabled & rendering::Scene::SetActiveGlobalIllumination.

Q_INVOKABLE void	SetHighQuality (const bool _quality)
	See rendering::GlobalIlluminationVct::SetHighQuality.

Q_INVOKABLE void	SetOctantCountX (const uint32_t _octantCount)
	See rendering::GlobalIlluminationVct::SetOctantCount.

Q_INVOKABLE void	SetOctantCountY (const uint32_t _octantCount)
	See rendering::GlobalIlluminationVct::SetOctantCount.

Q_INVOKABLE void	SetOctantCountZ (const uint32_t _octantCount)
	See rendering::GlobalIlluminationVct::SetOctantCount.

Q_INVOKABLE void	SetResolutionX (const uint32_t _res)
	See rendering::GlobalIlluminationVct::SetResolution.

Q_INVOKABLE void	SetResolutionY (const uint32_t _res)
	See rendering::GlobalIlluminationVct::SetResolution.

Q_INVOKABLE void	SetResolutionZ (const uint32_t _res)
	See rendering::GlobalIlluminationVct::SetResolution.

Q_INVOKABLE void	SetThinWallCounter (const float _thinWallCounter)
	See rendering::GlobalIlluminationVct::SetThinWallCounter.

Q_INVOKABLE float	ThinWallCounter () const
	See rendering::GlobalIlluminationVct::ThinWallCounter.

Q_INVOKABLE void	UpdateDebugVisualizationMode (int _mode)
	Set debug visualization mode GlogbalIllumination.

Q_INVOKABLE void	UpdateOctantCount (int _axis, uint32_t _count)
	Set VCT octant count.

Q_INVOKABLE void	UpdateResolution (int _axis, uint32_t _res)
	Set VCT resolution.

Public Member Functions inherited from GuiSystem
virtual void	Update (const UpdateInfo &_info, EntityComponentManager &_ecm)
	Update callback called every time the system is stepped. This is called at a Gazebo Transport thread, so any interaction with Qt should be done through signals and slots.

Public Member Functions inherited from Plugin
	Plugin ()

virtual	~Plugin ()

QQuickItem *	CardItem () const

virtual std::string	ConfigStr ()

QQmlContext *	Context () const

bool	DeleteLaterRequested () const

void	Load (const tinyxml2::XMLElement *_pluginElem)

QQuickItem *	PluginItem () const

void	PostParentChanges ()

virtual std::string	Title () const

Properties
bool	anisotropic

int	bounceCount

bool	conserveMemory

int	debugVisualizationMode

bool	enabled
	Enabled QML binding. Anything that isn't GUI-only (i.e. affects simulation) needs it.

bool	highQuality

int	octantCountX

int	octantCountY

int	octantCountZ

int	resolutionX

int	resolutionY

int	resolutionZ

float	thinWallCounter

Additional Inherited Members
Protected Member Functions inherited from Plugin
void	DeleteLater ()

Protected Attributes inherited from Plugin
std::string	configStr

std::string	title

Detailed Description

Enable and configure Global Illumination using VCT (Voxel Cone Tracing)

Due to how QML bindings work, we must split Vectors into each component so e.g. the following Javascript code:

cascade.resolutionX = 16 cascade.resolutionY = 32 cascade.resolutionZ = 64

Will end up calling:

cascade->SetResolutionX(16); cascade->SetResolutionY(32); cascade->SetResolutionZ(64);

Even though in C++ we would normally do resolution = {16, 32, 64}; The same goes for each property.

Constructor & Destructor Documentation

◆ GlobalIlluminationVct()

GlobalIlluminationVct ( )

Constructor.

◆ ~GlobalIlluminationVct()

~GlobalIlluminationVct ( )

override

Destructor.

Member Function Documentation

◆ Anisotropic()

Q_INVOKABLE bool Anisotropic ( ) const

See rendering::GlobalIlluminationVct::Anisotropic.

Returns: See rendering::GlobalIlluminationVct::Anisotropic

◆ BounceCount()

Q_INVOKABLE uint32_t BounceCount ( ) const

See rendering::GlobalIlluminationVct::BounceCount.

Returns: See rendering::GlobalIlluminationVct::BounceCount

◆ ConserveMemory()

Q_INVOKABLE bool ConserveMemory ( ) const

See rendering::GlobalIlluminationVct::ConserveMemory.

Returns: See rendering::GlobalIlluminationVct::ConserveMemory

◆ DebugVisualizationMode()

Q_INVOKABLE uint32_t DebugVisualizationMode ( ) const

See rendering::GlobalIlluminationVct::DebugVisualizationMode.

Returns: See rendering::GlobalIlluminationVct::DebugVisualizationMode

◆ DebugVisualizationModeChanged

void DebugVisualizationModeChanged ( )

signal

Notify debug visualization has changed.

◆ Enabled()

Q_INVOKABLE bool Enabled ( ) const

See rendering::GlobalIlluminationVct::Enabled.

Returns: See rendering::GlobalIlluminationVct::Enabled

◆ EnabledChanged

void EnabledChanged ( )

signal

Notify this property has changed.

◆ eventFilter()

bool eventFilter	(	QObject *	_obj,
		QEvent *	_event
	)

override

◆ HighQuality()

Q_INVOKABLE bool HighQuality ( ) const

See rendering::GlobalIlluminationVct::HighQuality.

Returns: See rendering::GlobalIlluminationVct::HighQuality

◆ LightingChanged

void LightingChanged ( )

signal

Notify fast-to-rebuild properties may have changed.

◆ LoadConfig()

void LoadConfig ( const tinyxml2::XMLElement * _pluginElem )

overridevirtual

Reimplemented from Plugin.

◆ LoadGlobalIlluminationVct()

bool LoadGlobalIlluminationVct ( )

Load the scene and attach LidarVisual to the scene.

Returns: True if GI VCT is loaded successfully, false otherwise.

◆ OctantCountX()

Q_INVOKABLE uint32_t OctantCountX ( ) const

See rendering::GlobalIlluminationVct::OctantCount.

Returns: See rendering::GlobalIlluminationVct::OctantCount

◆ OctantCountY()

Q_INVOKABLE uint32_t OctantCountY ( ) const

See rendering::GlobalIlluminationVct::OctantCount.

Returns: See rendering::GlobalIlluminationVct::OctantCount

◆ OctantCountZ()

Q_INVOKABLE uint32_t OctantCountZ ( ) const

See rendering::GlobalIlluminationVct::OctantCount.

Returns: See rendering::GlobalIlluminationVct::OctantCount

◆ ResolutionX()

Q_INVOKABLE uint32_t ResolutionX ( ) const

See rendering::GlobalIlluminationVct::Resolution.

Returns: See rendering::GlobalIlluminationVct::Resolution

◆ ResolutionY()

Q_INVOKABLE uint32_t ResolutionY ( ) const

See rendering::GlobalIlluminationVct::Resolution.

Returns: See rendering::GlobalIlluminationVct::Resolution

◆ ResolutionZ()

Q_INVOKABLE uint32_t ResolutionZ ( ) const

See rendering::GlobalIlluminationVct::Resolution.

Returns: See rendering::GlobalIlluminationVct::Resolution

◆ SetAnisotropic()

Q_INVOKABLE void SetAnisotropic ( const bool _anisotropic )

See rendering::GlobalIlluminationVct::SetAnisotropic.

Parameters

[in] _anisotropic See GlobalIlluminationVct::SetAnisotropic

◆ SetBounceCount()

Q_INVOKABLE void SetBounceCount ( const uint32_t _bounces )

See rendering::GlobalIlluminationVct::SetBounceCount.

Parameters

[in] _bounces See GlobalIlluminationVct::SetBounceCount

◆ SetConserveMemory()

Q_INVOKABLE void SetConserveMemory ( const bool _conserveMemory )

See rendering::GlobalIlluminationVct::SetConserveMemory.

Parameters

[in] _conserveMemory See GlobalIlluminationVct::SetConserveMemory

◆ SetDebugVisualizationMode()

Q_INVOKABLE void SetDebugVisualizationMode ( const uint32_t _visMode )

See rendering::GlobalIlluminationVct::SetDebugVisualizationMode.

Parameters

[in] _visMode See GlobalIlluminationVct::SetDebugVisualizationMode

◆ SetEnabled()

Q_INVOKABLE void SetEnabled ( const bool _enabled )

See rendering::GlobalIlluminationVct::SetEnabled & rendering::Scene::SetActiveGlobalIllumination.

Parameters

[in] _enabled See GlobalIlluminationVct::SetEnabled

◆ SetHighQuality()

Q_INVOKABLE void SetHighQuality ( const bool _quality )

See rendering::GlobalIlluminationVct::SetHighQuality.

Parameters

[in] _quality See GlobalIlluminationVct::SetHighQuality

◆ SetOctantCountX()

Q_INVOKABLE void SetOctantCountX ( const uint32_t _octantCount )

See rendering::GlobalIlluminationVct::SetOctantCount.

Parameters

[in] _octantCount See GlobalIlluminationVct::SetOctantCount

◆ SetOctantCountY()

Q_INVOKABLE void SetOctantCountY ( const uint32_t _octantCount )

See rendering::GlobalIlluminationVct::SetOctantCount.

Parameters

[in] _octantCount See GlobalIlluminationVct::SetOctantCount

◆ SetOctantCountZ()

Q_INVOKABLE void SetOctantCountZ ( const uint32_t _octantCount )

See rendering::GlobalIlluminationVct::SetOctantCount.

Parameters

[in] _octantCount See GlobalIlluminationVct::SetOctantCount

◆ SetResolutionX()

Q_INVOKABLE void SetResolutionX ( const uint32_t _res )

See rendering::GlobalIlluminationVct::SetResolution.

Parameters

[in] _res See GlobalIlluminationVct::SetResolution

◆ SetResolutionY()

Q_INVOKABLE void SetResolutionY ( const uint32_t _res )

See rendering::GlobalIlluminationVct::SetResolution.

Parameters

[in] _res See GlobalIlluminationVct::SetResolution

◆ SetResolutionZ()

Q_INVOKABLE void SetResolutionZ ( const uint32_t _res )

See rendering::GlobalIlluminationVct::SetResolution.

Parameters

[in] _res See GlobalIlluminationVct::SetResolution

◆ SetThinWallCounter()

Q_INVOKABLE void SetThinWallCounter ( const float _thinWallCounter )

See rendering::GlobalIlluminationVct::SetThinWallCounter.

Parameters

[in] _thinWallCounter See GlobalIlluminationVct::SetThinWallCounter

◆ SettingsChanged

void SettingsChanged ( )

signal

Notify various properties may have changed.

◆ ThinWallCounter()

Q_INVOKABLE float ThinWallCounter ( ) const

See rendering::GlobalIlluminationVct::ThinWallCounter.

Returns: See rendering::GlobalIlluminationVct::ThinWallCounter

◆ UpdateDebugVisualizationMode()

Q_INVOKABLE void UpdateDebugVisualizationMode ( int _mode )

Set debug visualization mode GlogbalIllumination.

Parameters

[in] _mode Index of selected debug visualization mode

◆ UpdateOctantCount()

Q_INVOKABLE void UpdateOctantCount	(	int	_axis,
		uint32_t	_count
	)

Set VCT octant count.

Parameters

[in]	_axis	Axis (width, height, depth). In range [0; 3)
[in]	_count	New octant count

◆ UpdateResolution()

Q_INVOKABLE void UpdateResolution	(	int	_axis,
		uint32_t	_res
	)

Set VCT resolution.

Parameters

[in]	_axis	Axis (width, height, depth). In range [0; 3)
[in]	_res	New resolution

Property Documentation

◆ anisotropic

bool anisotropic

readwrite

◆ bounceCount

int bounceCount

readwrite

◆ conserveMemory

bool conserveMemory

readwrite

◆ debugVisualizationMode

int debugVisualizationMode

readwrite

◆ enabled

bool enabled

readwrite

Enabled QML binding. Anything that isn't GUI-only (i.e. affects simulation) needs it.

◆ highQuality

bool highQuality

readwrite

◆ octantCountX

int octantCountX

readwrite

◆ octantCountY

int octantCountY

readwrite

◆ octantCountZ

int octantCountZ

readwrite

◆ resolutionX

int resolutionX

readwrite

◆ resolutionY

int resolutionY

readwrite

◆ resolutionZ

int resolutionZ

readwrite

◆ thinWallCounter

float thinWallCounter

readwrite

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

GlobalIlluminationVct.hh

Signals

Public Member Functions

Properties

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ GlobalIlluminationVct()

◆ ~GlobalIlluminationVct()

Member Function Documentation

◆ Anisotropic()

◆ BounceCount()

◆ ConserveMemory()

◆ DebugVisualizationMode()

◆ DebugVisualizationModeChanged

◆ Enabled()

◆ EnabledChanged

◆ eventFilter()

◆ HighQuality()

◆ LightingChanged

◆ LoadConfig()

◆ LoadGlobalIlluminationVct()

◆ OctantCountX()

◆ OctantCountY()

◆ OctantCountZ()

◆ ResolutionX()

◆ ResolutionY()

◆ ResolutionZ()

◆ SetAnisotropic()

◆ SetBounceCount()

◆ SetConserveMemory()

◆ SetDebugVisualizationMode()

◆ SetEnabled()

◆ SetHighQuality()

◆ SetOctantCountX()

◆ SetOctantCountY()

◆ SetOctantCountZ()

◆ SetResolutionX()

◆ SetResolutionY()

◆ SetResolutionZ()

◆ SetThinWallCounter()

◆ SettingsChanged

◆ ThinWallCounter()

◆ UpdateDebugVisualizationMode()

◆ UpdateOctantCount()

◆ UpdateResolution()

Property Documentation

◆ anisotropic

◆ bounceCount

◆ conserveMemory

◆ debugVisualizationMode

◆ enabled

◆ highQuality

◆ octantCountX

◆ octantCountY

◆ octantCountZ

◆ resolutionX

◆ resolutionY

◆ resolutionZ

◆ thinWallCounter