##

Visual.hh
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/*
* Copyright (C) 2012 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 GAZEBO_RENDERING_VISUAL_HH_
#define GAZEBO_RENDERING_VISUAL_HH_
#include <boost/enable_shared_from_this.hpp>
#include <boost/function.hpp>
#include <string>
#include <utility>
#include <vector>
#include <sdf/sdf.hh>
#include <ignition/math/Box.hh>
#include <ignition/math/Color.hh>
#include <ignition/math/Pose3.hh>
#include <ignition/math/Quaternion.hh>
#include <ignition/math/Vector3.hh>
#include <ignition/msgs/MessageTypes.hh>
#include "gazebo/common/Color.hh"
#include "gazebo/common/Mesh.hh"
#include "gazebo/common/Time.hh"
#include "gazebo/msgs/MessageTypes.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"
namespace Ogre
{
class MovableObject;
class SceneNode;
}
namespace gazebo
{
namespace rendering
{
class VisualPrivate;
class GZ_RENDERING_VISIBLE Visual :
public std::enable_shared_from_this<Visual>
{
public: enum VisualType
{
VT_ENTITY,
VT_MODEL,
VT_LINK,
VT_VISUAL,
VT_COLLISION,
VT_SENSOR,
VT_GUI,
VT_PHYSICS
};
public: Visual(const std::string &_name, VisualPtr _parent,
bool _useRTShader = true);
public: Visual(const std::string &_name, ScenePtr _scene,
bool _useRTShader = true);
public: virtual ~Visual();
public: void Init();
public: virtual void Fini();
public: VisualPtr Clone(const std::string &_name, VisualPtr _newParent);
public: void LoadFromMsg(ConstVisualPtr &_msg);
public: void Load(sdf::ElementPtr _sdf);
public: virtual void Load();
public: void Update();
public: sdf::ElementPtr GetSDF() const;
public: void SetName(const std::string &_name);
public: std::string Name() const;
public: void AttachVisual(VisualPtr _vis);
public: void DetachVisual(VisualPtr _vis);
public: void DetachVisual(const std::string &_name);
public: void AttachObject(Ogre::MovableObject *_obj);
public: bool HasAttachedObject(const std::string &_name);
public: unsigned int GetAttachedObjectCount() const;
public: void DetachObjects();
public: unsigned int GetChildCount();
public: VisualPtr GetChild(unsigned int _index);
public: Ogre::MovableObject *AttachMesh(const std::string &_meshName,
const std::string &_subMesh="",
bool _centerSubmesh = false,
const std::string &_objName="");
public: void SetScale(const ignition::math::Vector3d &_scale);
public: ignition::math::Vector3d Scale() const;
public: ignition::math::Vector3d DerivedScale() const;
public: bool GetLighting() const;
public: void SetLighting(bool _lighting);
public: void SetMaterial(const std::string &_materialName,
bool _unique = true, const bool _cascade = true);
public: void SetMaterialShaderParam(const std::string &_paramName,
const std::string &_shaderType, const std::string &_value);
public: void SetAmbient(const common::Color &_color,
const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
public: void SetAmbient(const ignition::math::Color &_color,
const bool _cascade = true);
public: void SetDiffuse(const common::Color &_color,
const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
public: void SetDiffuse(const ignition::math::Color &_color,
const bool _cascade = true);
public: void SetSpecular(const common::Color &_color,
const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
public: void SetSpecular(const ignition::math::Color &_color,
const bool _cascade = true);
public: virtual void SetEmissive(const common::Color &_color,
const bool _cascade = true) GAZEBO_DEPRECATED(9.0);
public: virtual void SetEmissive(const ignition::math::Color &_color,
const bool _cascade = true);
public: common::Color GetAmbient() const GAZEBO_DEPRECATED(9.0);
public: ignition::math::Color Ambient() const;
public: common::Color GetDiffuse() const GAZEBO_DEPRECATED(9.0);
public: ignition::math::Color Diffuse() const;
public: common::Color GetSpecular() const GAZEBO_DEPRECATED(9.0);
public: ignition::math::Color Specular() const;
public: common::Color GetEmissive() const GAZEBO_DEPRECATED(9.0);
public: ignition::math::Color Emissive() const;
public: void SetWireframe(bool _show);
public: bool Wireframe() const;
private: void SetTransparencyInnerLoop(Ogre::SceneNode *_sceneNode);
public: void SetTransparency(float _trans);
public: float GetTransparency();
public: float DerivedTransparency() const;
public: void SetInheritTransparency(const bool _inherit);
public: bool InheritTransparency() const;
public: virtual void SetHighlighted(bool _highlighted);
public: bool GetHighlighted() const;
public: bool GetCastShadows() const;
public: void SetCastShadows(bool _shadows);
public: virtual void SetVisible(bool _visible, bool _cascade = true);
public: void ToggleVisible();
public: bool GetVisible() const;
public: void SetPosition(const ignition::math::Vector3d &_pos);
public: void SetRotation(const ignition::math::Quaterniond &_rot);
public: void SetPose(const ignition::math::Pose3d &_pose);
public: ignition::math::Vector3d Position() const;
public: ignition::math::Quaterniond Rotation() const;
public: ignition::math::Pose3d Pose() const;
public: ignition::math::Pose3d InitialRelativePose() const;
public: ignition::math::Pose3d WorldPose() const;
public: void SetWorldPose(const ignition::math::Pose3d &_pose);
public: void SetWorldPosition(const ignition::math::Vector3d &_pos);
public: void SetWorldRotation(const ignition::math::Quaterniond &_rot);
public: Ogre::SceneNode *GetSceneNode() const;
public: void MakeStatic();
public: bool IsStatic() const;
public: void EnableTrackVisual(VisualPtr _vis);
public: void DisableTrackVisual();
public: std::string GetNormalMap() const;
public: void SetNormalMap(const std::string &_nmap);
public: void SetRibbonTrail(bool _value,
const common::Color &_initialColor,
const common::Color &_changeColor) GAZEBO_DEPRECATED(9.0);
public: void SetRibbonTrail(bool _value,
const ignition::math::Color &_initialColor,
const ignition::math::Color &_changeColor);
public: ignition::math::Box BoundingBox() const;
public: DynamicLines *CreateDynamicLine(
RenderOpType _type = RENDERING_LINE_STRIP);
public: void DeleteDynamicLine(DynamicLines *_line);
public: void AttachLineVertex(DynamicLines *_line,
unsigned int _index);
public: std::string GetMaterialName() const;
public: void InsertMesh(const std::string &_meshName,
const std::string &_subMesh = "",
bool _centerSubmesh = false);
public: static void InsertMesh(const common::Mesh *_mesh,
const std::string &_subMesh = "",
bool _centerSubmesh = false);
public: void UpdateFromMsg(ConstVisualPtr &_msg);
public: bool IsPlane() const;
public: VisualPtr GetParent() const;
public: VisualPtr GetRootVisual();
public: VisualPtr GetNthAncestor(unsigned int _n);
public: bool IsAncestorOf(const rendering::VisualPtr _visual) const;
public: bool IsDescendantOf(const rendering::VisualPtr _visual) const;
public: unsigned int GetDepth() const;
public: std::string GetShaderType() const;
public: void SetShaderType(const std::string &_type);
public: void MoveToPosition(const ignition::math::Pose3d &_pose,
const double _time);
public: void MoveToPositions(
const std::vector<ignition::math::Pose3d> &_pts, const double _time,
std::function<void()> _onComplete = nullptr);
public: void SetVisibilityFlags(uint32_t _flags);
public: uint32_t GetVisibilityFlags();
public: void ShowBoundingBox();
public: void ShowCollision(bool _show);
public: void ShowSkeleton(bool _show);
public: void SetScene(ScenePtr _scene);
public: ScenePtr GetScene() const;
public: void ShowJoints(bool _show);
public: void ShowCOM(bool _show);
public: void ShowInertia(bool _show);
public: void ShowLinkFrame(bool _show);
public: void SetSkeletonPose(const msgs::PoseAnimation &_pose);
public: void LoadPlugin(const std::string &_filename,
const std::string &_name,
sdf::ElementPtr _sdf);
public: void RemovePlugin(const std::string &_name);
public: uint32_t GetId() const;
public: void SetId(uint32_t _id);
public: std::string GetGeometryType() const;
public: ignition::math::Vector3d GetGeometrySize() const;
public: std::string GetMeshName() const;
public: std::string GetSubMeshName() const;
public: void ClearParent();
public: void ToggleLayer(const int32_t _layer);
public: void SetLayer(const int32_t _layer);
public: Visual::VisualType GetType() const;
public: void SetType(const Visual::VisualType _type);
public: bool UseRTShader() const;
public: void SetTypeMsg(const google::protobuf::Message *_msg);
public: void AddPendingChild(std::pair<VisualType,
const google::protobuf::Message *> _pair);
public: static Visual::VisualType ConvertVisualType(
const msgs::Visual::Type &_type);
public: static msgs::Visual::Type ConvertVisualType(
const Visual::VisualType &_type);
public: void FillMaterialMsg(ignition::msgs::Material &_msg) const;
protected: Visual(VisualPrivate &_dataPtr,
const std::string &_name, VisualPtr _parent,
bool _useRTShader = true);
protected: Visual(VisualPrivate &_dataPtr,
const std::string &_name, ScenePtr _scene,
bool _useRTShader = true);
protected: void ProcessMaterialMsg(const ignition::msgs::Material &_msg);
private: void Init(const std::string &_name, ScenePtr _scene,
bool _useRTShader);
private: void Init(const std::string &_name, VisualPtr _parent,
bool _useRTShader);
private: void LoadPlugins();
private: void LoadPlugin(sdf::ElementPtr _sdf);
private: void BoundsHelper(Ogre::SceneNode *_node,
ignition::math::Box &_box) const;
private: bool GetCenterSubMesh() const;
private: void DestroyAllAttachedMovableObjects(
Ogre::SceneNode *_sceneNode);
private: void UpdateGeomSize(const ignition::math::Vector3d &_scale);
private: void UpdateTransparency(const bool _cascade = true);
protected: VisualPrivate *dataPtr;
};
}
}
#endif
gazebo::rendering::Visual::SetWorldRotation
void SetWorldRotation(const ignition::math::Quaterniond &_rot)
Set the world orientation of the visual.
gazebo::rendering::Visual::GetAmbient
common::Color GetAmbient() const GAZEBO_DEPRECATED(9.0)
Get the ambient color of the visual.
gazebo::rendering::Visual::SetRibbonTrail
void SetRibbonTrail(bool _value, const common::Color &_initialColor, const common::Color &_changeColor) GAZEBO_DEPRECATED(9.0)
True on or off a ribbon trail.
gazebo::rendering::Visual::ConvertVisualType
static Visual::VisualType ConvertVisualType(const msgs::Visual::Type &_type)
Convert from msgs::Visual::Type to VisualType.
gazebo::rendering::Visual::GetScene
ScenePtr GetScene() const
Get current.
gazebo::rendering::Visual::RemovePlugin
void RemovePlugin(const std::string &_name)
Remove a running plugin.
gazebo::rendering::Visual::VT_MODEL
Model visual.
Definition: Visual.hh:70
Time.hh
gazebo::rendering::Visual::VT_SENSOR
Sensor visual.
Definition: Visual.hh:78
gazebo::rendering::Visual::GetGeometrySize
ignition::math::Vector3d GetGeometrySize() const
Get the geometry size.
Ogre
Definition: JointMaker.hh:39
ignition
Definition: Model.hh:40
gazebo::rendering::Visual::GetAttachedObjectCount
unsigned int GetAttachedObjectCount() const
Return the number of attached movable objects.
gazebo::rendering::Visual::Load
virtual void Load()
Load the visual with default parameters.
gazebo::rendering::Visual::Visual
Visual(const std::string &_name, VisualPtr _parent, bool _useRTShader=true)
Constructor.
gazebo::rendering::Visual::SetVisible
virtual void SetVisible(bool _visible, bool _cascade=true)
Set whether the visual is visible.
gazebo::rendering::Visual::GetSceneNode
Ogre::SceneNode * GetSceneNode() const
Return the scene Node of this visual entity.
gazebo::rendering::Visual::BoundingBox
ignition::math::Box BoundingBox() const
Get the bounding box for the visual.
Mesh.hh
gazebo::rendering::Visual::GetEmissive
common::Color GetEmissive() const GAZEBO_DEPRECATED(9.0)
Get the emissive color of the visual.
gazebo::rendering::Visual::SetType
void SetType(const Visual::VisualType _type)
Set type of visual.
gazebo::rendering::Visual::~Visual
virtual ~Visual()
Destructor.
gazebo::rendering::Visual::SetRotation
void SetRotation(const ignition::math::Quaterniond &_rot)
Set the rotation of the visual.
gazebo
Forward declarations for the common classes.
Definition: Animation.hh:26
gazebo::rendering::Visual::ShowBoundingBox
void ShowBoundingBox()
Display the bounding box visual.
gazebo::rendering::Visual::SetScene
void SetScene(ScenePtr _scene)
Set current scene.
gazebo::rendering::Visual::SetMaterialShaderParam
void SetMaterialShaderParam(const std::string &_paramName, const std::string &_shaderType, const std::string &_value)
Set a shader program parameter associated to this visual's material.
gazebo::rendering::Visual::SetNormalMap
void SetNormalMap(const std::string &_nmap)
Set the normal map.
gazebo::rendering::Visual::DetachObjects
void DetachObjects()
Detach all objects.
gazebo::rendering::Visual::VT_COLLISION
Collision visual.
Definition: Visual.hh:76
gazebo::rendering::Visual::FillMaterialMsg
void FillMaterialMsg(ignition::msgs::Material &_msg) const
Fill an ignition::msgs::Material message based on this visual's material properties.
gazebo::rendering::Visual::WorldPose
ignition::math::Pose3d WorldPose() const
Get the global pose of the visual.
gazebo::rendering::Visual::SetPosition
void SetPosition(const ignition::math::Vector3d &_pos)
Set the position of the visual.
gazebo::rendering::Visual::GetSpecular
common::Color GetSpecular() const GAZEBO_DEPRECATED(9.0)
Get the specular color of the visual.
gazebo::rendering::Visual::VT_ENTITY
Entity visual.
Definition: Visual.hh:68
gazebo::rendering::Visual::dataPtr
VisualPrivate * dataPtr
Definition: Visual.hh:799
gazebo::rendering::Visual::SetTypeMsg
void SetTypeMsg(const google::protobuf::Message *_msg)
Set a message specific for this visual type.
gazebo::rendering::Visual::SetMaterial
void SetMaterial(const std::string &_materialName, bool _unique=true, const bool _cascade=true)
Set the material.
common
common
Definition: FuelModelDatabase.hh:37
gazebo::rendering::Visual::VT_VISUAL
Visual visual.
Definition: Visual.hh:74
gazebo::rendering::Visual::DeleteDynamicLine
void DeleteDynamicLine(DynamicLines *_line)
Delete a dynamic line.
gazebo::rendering::Visual::GetMaterialName
std::string GetMaterialName() const
Get the name of the material.
gazebo::rendering::Visual::Clone
VisualPtr Clone(const std::string &_name, VisualPtr _newParent)
Clone the visual with a new name.
gazebo::rendering::Visual::SetId
void SetId(uint32_t _id)
Set the id associated with this visual.
gazebo::rendering::Visual::Init
void Init()
Helper for the contructor.
gazebo::rendering::Visual::Diffuse
ignition::math::Color Diffuse() const
Get the diffuse color of the visual.
gazebo::rendering::Visual::Scale
ignition::math::Vector3d Scale() const
Get the scale.
gazebo::rendering::Visual::SetPose
void SetPose(const ignition::math::Pose3d &_pose)
Set the pose of the visual.
gazebo::rendering::Visual::GetDepth
unsigned int GetDepth() const
Get the depth of this visual, where 0 is the depth of the world visual.
system.hh
gazebo::rendering::Visual::GetLighting
bool GetLighting() const
Get whether or not lighting is enabled.
gazebo::rendering::Visual::SetLighting
void SetLighting(bool _lighting)
Set whether or not to enable or disable lighting.
gazebo::rendering::Visual::EnableTrackVisual
void EnableTrackVisual(VisualPtr _vis)
Set one visual to track/follow another.
gazebo::rendering::Visual::GetVisibilityFlags
uint32_t GetVisibilityFlags()
Get visibility flags for this visual and all children.
gazebo::rendering::Visual::UseRTShader
bool UseRTShader() const
Get whether this visual uses RT shader system.
gazebo::rendering::Visual::GetChild
VisualPtr GetChild(unsigned int _index)
Get an attached visual based on an index.
gazebo::rendering::Visual::SetShaderType
void SetShaderType(const std::string &_type)
Set the shader type for the visual's material.
gazebo::rendering::Visual::AddPendingChild
void AddPendingChild(std::pair< VisualType, const google::protobuf::Message * > _pair)
Push a message for a child of this visual which hasn't been loaded yet.
gazebo::rendering::DynamicLines
Class for drawing lines that can change.
Definition: DynamicLines.hh:42
gazebo::rendering::Visual::VT_GUI
GUI visual.
Definition: Visual.hh:80
gazebo::rendering::Visual::GetParent
VisualPtr GetParent() const
Get the parent visual, if one exists.
gazebo::rendering::Visual::Emissive
ignition::math::Color Emissive() const
Get the emissive color of the visual.
gazebo::rendering::Visual::SetWorldPose
void SetWorldPose(const ignition::math::Pose3d &_pose)
Set the world pose of the visual.
gazebo::rendering::Visual::GetSDF
sdf::ElementPtr GetSDF() const
Get the visual SDF.
gazebo::rendering::Visual::IsAncestorOf
bool IsAncestorOf(const rendering::VisualPtr _visual) const
Check if this visual is an ancestor of another visual.
gazebo::rendering::Visual::Update
void Update()
Update the visual.
gazebo::rendering::RENDERING_LINE_STRIP
A strip of connected lines, 1 vertex per line plus 1 start vertex.
Definition: RenderTypes.hh:226
gazebo::rendering::Visual::SetWorldPosition
void SetWorldPosition(const ignition::math::Vector3d &_pos)
Set the world linear position of the visual.
gazebo::rendering::Visual::ShowCOM
void ShowCOM(bool _show)
Display Center of Mass visuals.
gazebo::rendering::Visual::GetNthAncestor
VisualPtr GetNthAncestor(unsigned int _n)
Get the nth ancestor counting from the world visual.
gazebo::rendering::Visual::ShowCollision
void ShowCollision(bool _show)
Display the collision visuals.
gazebo::rendering::Visual::GetVisible
bool GetVisible() const
Get whether the visual is visible.
gazebo::rendering::Visual::GetDiffuse
common::Color GetDiffuse() const GAZEBO_DEPRECATED(9.0)
Get the diffuse color of the visual.
gazebo::rendering::ScenePtr
boost::shared_ptr< Scene > ScenePtr
Definition: RenderTypes.hh:82
gazebo::rendering::Visual::GetGeometryType
std::string GetGeometryType() const
Get the geometry type.
gazebo::rendering::RenderOpType
RenderOpType
Type of render operation for a drawable.
Definition: RenderTypes.hh:216
gazebo::rendering::Visual::GetMeshName
std::string GetMeshName() const
The name of the mesh set in the visual's SDF.
gazebo::rendering::Visual::MoveToPosition
void MoveToPosition(const ignition::math::Pose3d &_pose, const double _time)
Move to a pose and over a given time.
gazebo::rendering::Visual::Wireframe
bool Wireframe() const
Get whether wireframe is enabled for this visual.
gazebo::rendering::Visual::SetAmbient
void SetAmbient(const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
Set the ambient color of the visual.
RenderTypes.hh
gazebo::rendering::Visual::MoveToPositions
void MoveToPositions(const std::vector< ignition::math::Pose3d > &_pts, const double _time, std::function< void()> _onComplete=nullptr)
Move to a series of pose and over a given time.
gazebo::rendering::Visual::ProcessMaterialMsg
void ProcessMaterialMsg(const ignition::msgs::Material &_msg)
Process a material message.
gazebo::rendering::Visual::ShowLinkFrame
void ShowLinkFrame(bool _show)
Display link frame visuals.
gazebo::rendering::Visual::InitialRelativePose
ignition::math::Pose3d InitialRelativePose() const
Get the initial relative pose of the visual.
Color.hh
rendering
rendering
Definition: RenderEngine.hh:31
gazebo::rendering::Visual::SetScale
void SetScale(const ignition::math::Vector3d &_scale)
Set the scale.
gazebo::rendering::Visual
A renderable object.
Definition: Visual.hh:60
gazebo::rendering::Visual::VisualType
VisualType
Type of visual.
Definition: Visual.hh:65
gazebo::rendering::Visual::AttachMesh
Ogre::MovableObject * AttachMesh(const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false, const std::string &_objName="")
Attach a mesh to this visual by name.
gazebo::rendering::Visual::GetShaderType
std::string GetShaderType() const
Get the shader type.
gazebo::rendering::Visual::ToggleLayer
void ToggleLayer(const int32_t _layer)
Toggle layer visibility.
gazebo::rendering::Visual::LoadPlugin
void LoadPlugin(const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf)
Load a plugin.
gazebo::rendering::Visual::IsPlane
bool IsPlane() const
Return true if the visual is a plane.
gazebo::rendering::Visual::SetWireframe
void SetWireframe(bool _show)
Enable or disable wireframe for this visual.
gazebo::rendering::Visual::SetName
void SetName(const std::string &_name)
Set the name of the visual.
gazebo::rendering::Visual::AttachVisual
void AttachVisual(VisualPtr _vis)
Attach a visual to this visual.
gazebo::rendering::Visual::ClearParent
void ClearParent()
Clear parents.
gazebo::rendering::Visual::VT_LINK
Link visual.
Definition: Visual.hh:72
gazebo::rendering::Visual::UpdateFromMsg
void UpdateFromMsg(ConstVisualPtr &_msg)
Update a visual based on a message.
gazebo::rendering::Visual::CreateDynamicLine
DynamicLines * CreateDynamicLine(RenderOpType _type=RENDERING_LINE_STRIP)
Add a line to the visual.
gazebo::rendering::Visual::GetNormalMap
std::string GetNormalMap() const
Get the normal map.
gazebo::msgs::Init
GAZEBO_VISIBLE void Init(google::protobuf::Message &_message, const std::string &_id="")
Initialize a message.
gazebo::rendering::Visual::SetInheritTransparency
void SetInheritTransparency(const bool _inherit)
Set whether to inherit transparency from parent.
gazebo::rendering::Visual::GetId
uint32_t GetId() const
Get the id associated with this visual.
gazebo::rendering::Visual::SetEmissive
virtual void SetEmissive(const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
Set the emissive value.
gazebo::rendering::Visual::SetSkeletonPose
void SetSkeletonPose(const msgs::PoseAnimation &_pose)
Set animation skeleton pose.
gazebo::common::Color
Defines a color.
Definition: Color.hh:36
gazebo::rendering::Visual::SetVisibilityFlags
void SetVisibilityFlags(uint32_t _flags)
Set visibility flags for this visual and all children.
gazebo::rendering::Visual::DerivedTransparency
float DerivedTransparency() const
Get the transparency of the visual as inherited from all parents.
gazebo::rendering::Visual::SetLayer
void SetLayer(const int32_t _layer)
Set the layer this visual belongs to.
gazebo::rendering::Visual::IsStatic
bool IsStatic() const
Return true if the visual is a static geometry.
gazebo::rendering::Visual::GetSubMeshName
std::string GetSubMeshName() const
Get the name of the sub mesh set in the visual's SDF.
gazebo::rendering::Visual::GetChildCount
unsigned int GetChildCount()
Get the number of attached visuals.
gazebo::rendering::Visual::ShowSkeleton
void ShowSkeleton(bool _show)
Display the skeleton visuals.
GAZEBO_DEPRECATED
#define GAZEBO_DEPRECATED(version)
Definition: system.hh:328
gazebo::rendering::Visual::SetSpecular
void SetSpecular(const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
Set the specular color of the visual.
gazebo::rendering::Visual::SetTransparency
void SetTransparency(float _trans)
Set the transparency.
gazebo::rendering::Visual::GetHighlighted
bool GetHighlighted() const
Get whether or not the visual is visually highlighted.
gazebo::rendering::Visual::AttachObject
void AttachObject(Ogre::MovableObject *_obj)
Attach a renerable object to the visual.
gazebo::rendering::Visual::Ambient
ignition::math::Color Ambient() const
Get the ambient color of the visual.
gazebo::rendering::VisualPtr
std::shared_ptr< Visual > VisualPtr
Definition: RenderTypes.hh:114
gazebo::rendering::Visual::AttachLineVertex
void AttachLineVertex(DynamicLines *_line, unsigned int _index)
Attach a vertex of a line to the position of the visual.
gazebo::rendering::Visual::GetType
Visual::VisualType GetType() const
Get type of visual.
gazebo::rendering::Visual::Position
ignition::math::Vector3d Position() const
Get the position of the visual.
gazebo::rendering::Visual::InsertMesh
void InsertMesh(const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false)
Insert a mesh into Ogre.
gazebo::rendering::Visual::ToggleVisible
void ToggleVisible()
Toggle whether this visual is visible.
gazebo::rendering::Visual::GetCastShadows
bool GetCastShadows() const
Get whether the visual casts shadows.
gazebo::rendering::Visual::SetCastShadows
void SetCastShadows(bool _shadows)
Set whether the visual should cast shadows.
gazebo::rendering::Visual::Name
std::string Name() const
Get the name of the visual.
gazebo::rendering::Visual::ShowJoints
void ShowJoints(bool _show)
Display joint visuals.
gazebo::rendering::Visual::HasAttachedObject
bool HasAttachedObject(const std::string &_name)
Returns true if an object with _name is attached.
gazebo::rendering::Visual::DisableTrackVisual
void DisableTrackVisual()
Disable tracking of a visual.
gazebo::rendering::Visual::Fini
virtual void Fini()
Helper for the destructor.
gazebo::rendering::Visual::SetDiffuse
void SetDiffuse(const common::Color &_color, const bool _cascade=true) GAZEBO_DEPRECATED(9.0)
Set the diffuse color of the visual.
gazebo::rendering::Visual::DerivedScale
ignition::math::Vector3d DerivedScale() const
Get the scale of the visual as inherited from all parents.
gazebo::rendering::Visual::Rotation
ignition::math::Quaterniond Rotation() const
Get the rotation of the visual.
gazebo::rendering::Visual::Specular
ignition::math::Color Specular() const
Get the specular color of the visual.
google
Definition: ConfigWidget.hh:33
gazebo::rendering::Visual::IsDescendantOf
bool IsDescendantOf(const rendering::VisualPtr _visual) const
Check if this visual is a descendant of another visual.
gazebo::rendering::Visual::GetRootVisual
VisualPtr GetRootVisual()
Get the root visual.
gazebo::rendering::Visual::LoadFromMsg
void LoadFromMsg(ConstVisualPtr &_msg)
Load from a message.
gazebo::rendering::Visual::DetachVisual
void DetachVisual(VisualPtr _vis)
Detach a visual.
gazebo::rendering::Visual::InheritTransparency
bool InheritTransparency() const
Get whether this visual inherits transparency from parent.
gazebo::rendering::Visual::SetHighlighted
virtual void SetHighlighted(bool _highlighted)
Set the visual to be visually highlighted.
gazebo::rendering::Visual::ShowInertia
void ShowInertia(bool _show)
Display inertia visuals.
gazebo::rendering::Visual::Pose
ignition::math::Pose3d Pose() const
Get the pose of the visual.
gazebo::rendering::Visual::GetTransparency
float GetTransparency()
Get the transparency.
gazebo::rendering::Visual::MakeStatic
void MakeStatic()
Make the visual objects static renderables.
gazebo::rendering::Visual::VT_PHYSICS
Physics data visual.
Definition: Visual.hh:82