A renderable object. More...
#include <rendering/rendering.hh>
Inherits enable_shared_from_this< Visual >.
Inherited by ApplyWrenchVisual, ArrowVisual, AxisVisual, COMVisual, CameraVisual, ContactVisual, InertiaVisual, JointVisual, LaserVisual, LogicalCameraVisual, OriginVisual, RFIDTagVisual, RFIDVisual, Road2d, SelectionObj, SonarVisual, TransmitterVisual, VideoVisual, and WrenchVisual.
Public Types | |
enum | VisualType { VT_ENTITY , VT_MODEL , VT_LINK , VT_VISUAL , VT_COLLISION , VT_SENSOR , VT_GUI , VT_PHYSICS } |
Type of visual. More... | |
Public Member Functions | |
Visual (const std::string &_name, ScenePtr _scene, bool _useRTShader=true) | |
Constructor. More... | |
Visual (const std::string &_name, VisualPtr _parent, bool _useRTShader=true) | |
Constructor. More... | |
virtual | ~Visual () |
Destructor. More... | |
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. More... | |
ignition::math::Color | Ambient () const |
Get the ambient color of the visual. More... | |
void | AttachLineVertex (DynamicLines *_line, unsigned int _index) |
Attach a vertex of a line to the position of the visual. More... | |
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. More... | |
void | AttachObject (Ogre::MovableObject *_obj) |
Attach a renerable object to the visual. More... | |
void | AttachVisual (VisualPtr _vis) |
Attach a visual to this visual. More... | |
ignition::math::Box | BoundingBox () const |
Get the bounding box for the visual. More... | |
void | ClearParent () |
Clear parents. More... | |
VisualPtr | Clone (const std::string &_name, VisualPtr _newParent) |
Clone the visual with a new name. More... | |
DynamicLines * | CreateDynamicLine (RenderOpType _type=RENDERING_LINE_STRIP) |
Add a line to the visual. More... | |
void | DeleteDynamicLine (DynamicLines *_line) |
Delete a dynamic line. More... | |
ignition::math::Vector3d | DerivedScale () const |
Get the scale of the visual as inherited from all parents. More... | |
float | DerivedTransparency () const |
Get the transparency of the visual as inherited from all parents. More... | |
void | DetachObjects () |
Detach all objects. More... | |
void | DetachVisual (const std::string &_name) |
Detach a visual. More... | |
void | DetachVisual (VisualPtr _vis) |
Detach a visual. More... | |
ignition::math::Color | Diffuse () const |
Get the diffuse color of the visual. More... | |
void | DisableTrackVisual () |
Disable tracking of a visual. More... | |
ignition::math::Color | Emissive () const |
Get the emissive color of the visual. More... | |
void | EnableTrackVisual (VisualPtr _vis) |
Set one visual to track/follow another. More... | |
void | FillMaterialMsg (ignition::msgs::Material &_msg) const |
Fill an ignition::msgs::Material message based on this visual's material properties. More... | |
virtual void | Fini () |
Helper for the destructor. More... | |
unsigned int | GetAttachedObjectCount () const |
Return the number of attached movable objects. More... | |
bool | GetCastShadows () const |
Get whether the visual casts shadows. More... | |
VisualPtr | GetChild (unsigned int _index) |
Get an attached visual based on an index. More... | |
unsigned int | GetChildCount () |
Get the number of attached visuals. More... | |
unsigned int | GetDepth () const |
Get the depth of this visual, where 0 is the depth of the world visual. More... | |
ignition::math::Vector3d | GetGeometrySize () const |
Get the geometry size. More... | |
std::string | GetGeometryType () const |
Get the geometry type. More... | |
bool | GetHighlighted () const |
Get whether or not the visual is visually highlighted. More... | |
uint32_t | GetId () const |
Get the id associated with this visual. More... | |
bool | GetLighting () const |
Get whether or not lighting is enabled. More... | |
std::string | GetMaterialName () const |
Get the name of the material. More... | |
std::string | GetMeshName () const |
The name of the mesh set in the visual's SDF. More... | |
std::string | GetNormalMap () const |
Get the normal map. More... | |
VisualPtr | GetNthAncestor (unsigned int _n) |
Get the nth ancestor counting from the world visual. More... | |
VisualPtr | GetParent () const |
Get the parent visual, if one exists. More... | |
VisualPtr | GetRootVisual () |
Get the root visual. More... | |
ScenePtr | GetScene () const |
Get current. More... | |
Ogre::SceneNode * | GetSceneNode () const |
Return the scene Node of this visual entity. More... | |
sdf::ElementPtr | GetSDF () const |
Get the visual SDF. More... | |
std::string | GetShaderType () const |
Get the shader type. More... | |
std::string | GetSubMeshName () const |
Get the name of the sub mesh set in the visual's SDF. More... | |
float | GetTransparency () |
Get the transparency. More... | |
Visual::VisualType | GetType () const |
Get type of visual. More... | |
uint32_t | GetVisibilityFlags () |
Get visibility flags for this visual and all children. More... | |
bool | GetVisible () const |
Get whether the visual is visible. More... | |
bool | HasAttachedObject (const std::string &_name) |
Returns true if an object with _name is attached. More... | |
bool | InheritTransparency () const |
Get whether this visual inherits transparency from parent. More... | |
void | Init () |
Helper for the contructor. More... | |
ignition::math::Pose3d | InitialRelativePose () const |
Get the initial relative pose of the visual. More... | |
void | InsertMesh (const std::string &_meshName, const std::string &_subMesh="", bool _centerSubmesh=false) |
Insert a mesh into Ogre. More... | |
bool | IsAncestorOf (const rendering::VisualPtr _visual) const |
Check if this visual is an ancestor of another visual. More... | |
bool | IsDescendantOf (const rendering::VisualPtr _visual) const |
Check if this visual is a descendant of another visual. More... | |
bool | IsPlane () const |
Return true if the visual is a plane. More... | |
bool | IsStatic () const |
Return true if the visual is a static geometry. More... | |
virtual void | Load () |
Load the visual with default parameters. More... | |
void | Load (sdf::ElementPtr _sdf) |
Load the visual with a set of parameters. More... | |
void | LoadFromMsg (ConstVisualPtr &_msg) |
Load from a message. More... | |
void | LoadPlugin (const std::string &_filename, const std::string &_name, sdf::ElementPtr _sdf) |
Load a plugin. More... | |
void | MakeStatic () |
Make the visual objects static renderables. More... | |
void | MoveToPosition (const ignition::math::Pose3d &_pose, const double _time) |
Move to a pose and over a given time. More... | |
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. More... | |
std::string | Name () const |
Get the name of the visual. More... | |
ignition::math::Pose3d | Pose () const |
Get the pose of the visual. More... | |
ignition::math::Vector3d | Position () const |
Get the position of the visual. More... | |
void | RemovePlugin (const std::string &_name) |
Remove a running plugin. More... | |
ignition::math::Quaterniond | Rotation () const |
Get the rotation of the visual. More... | |
ignition::math::Vector3d | Scale () const |
Get the scale. More... | |
void | SetAmbient (const ignition::math::Color &_color, const bool _cascade=true) |
Set the ambient color of the visual. More... | |
void | SetCastShadows (bool _shadows) |
Set whether the visual should cast shadows. More... | |
void | SetDiffuse (const ignition::math::Color &_color, const bool _cascade=true) |
Set the diffuse color of the visual. More... | |
virtual void | SetEmissive (const ignition::math::Color &_color, const bool _cascade=true) |
Set the emissive value. More... | |
virtual void | SetHighlighted (bool _highlighted) |
Set the visual to be visually highlighted. More... | |
void | SetId (uint32_t _id) |
Set the id associated with this visual. More... | |
void | SetInheritTransparency (const bool _inherit) |
Set whether to inherit transparency from parent. More... | |
void | SetLayer (const int32_t _layer) |
Set the layer this visual belongs to. More... | |
void | SetLighting (bool _lighting) |
Set whether or not to enable or disable lighting. More... | |
void | SetMaterial (const std::string &_materialName, bool _unique=true, const bool _cascade=true) |
Set the material. More... | |
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. More... | |
void | SetName (const std::string &_name) |
Set the name of the visual. More... | |
void | SetNormalMap (const std::string &_nmap) |
Set the normal map. More... | |
void | SetPose (const ignition::math::Pose3d &_pose) |
Set the pose of the visual. More... | |
void | SetPosition (const ignition::math::Vector3d &_pos) |
Set the position of the visual. More... | |
void | SetRibbonTrail (bool _value, const ignition::math::Color &_initialColor, const ignition::math::Color &_changeColor) |
True on or off a ribbon trail. More... | |
void | SetRotation (const ignition::math::Quaterniond &_rot) |
Set the rotation of the visual. More... | |
void | SetScale (const ignition::math::Vector3d &_scale) |
Set the scale. More... | |
void | SetScene (ScenePtr _scene) |
Set current scene. More... | |
void | SetShaderType (const std::string &_type) |
Set the shader type for the visual's material. More... | |
void | SetSkeletonPose (const msgs::PoseAnimation &_pose) |
Set animation skeleton pose. More... | |
void | SetSpecular (const ignition::math::Color &_color, const bool _cascade=true) |
Set the specular color of the visual. More... | |
void | SetTransparency (float _trans) |
Set the transparency. More... | |
void | SetType (const Visual::VisualType _type) |
Set type of visual. More... | |
void | SetTypeMsg (const google::protobuf::Message *_msg) |
Set a message specific for this visual type. More... | |
void | SetVisibilityFlags (uint32_t _flags) |
Set visibility flags for this visual and all children. More... | |
virtual void | SetVisible (bool _visible, bool _cascade=true) |
Set whether the visual is visible. More... | |
void | SetWireframe (bool _show) |
Enable or disable wireframe for this visual. More... | |
void | SetWorldPose (const ignition::math::Pose3d &_pose) |
Set the world pose of the visual. More... | |
void | SetWorldPosition (const ignition::math::Vector3d &_pos) |
Set the world linear position of the visual. More... | |
void | SetWorldRotation (const ignition::math::Quaterniond &_rot) |
Set the world orientation of the visual. More... | |
void | ShowBoundingBox () |
Display the bounding box visual. More... | |
void | ShowCollision (bool _show) |
Display the collision visuals. More... | |
void | ShowCOM (bool _show) |
Display Center of Mass visuals. More... | |
void | ShowInertia (bool _show) |
Display inertia visuals. More... | |
void | ShowJoints (bool _show) |
Display joint visuals. More... | |
void | ShowLinkFrame (bool _show) |
Display link frame visuals. More... | |
void | ShowSkeleton (bool _show) |
Display the skeleton visuals. More... | |
ignition::math::Color | Specular () const |
Get the specular color of the visual. More... | |
void | ToggleLayer (const int32_t _layer) |
Toggle layer visibility. More... | |
void | ToggleVisible () |
Toggle whether this visual is visible. More... | |
void | Update () |
Update the visual. More... | |
void | UpdateFromMsg (ConstVisualPtr &_msg) |
Update a visual based on a message. More... | |
bool | UseRTShader () const |
Get whether this visual uses RT shader system. More... | |
bool | Wireframe () const |
Get whether wireframe is enabled for this visual. More... | |
ignition::math::Pose3d | WorldPose () const |
Get the global pose of the visual. More... | |
Static Public Member Functions | |
static Visual::VisualType | ConvertVisualType (const msgs::Visual::Type &_type) |
Convert from msgs::Visual::Type to VisualType. More... | |
static msgs::Visual::Type | ConvertVisualType (const Visual::VisualType &_type) |
Convert from msgs::Visual::Type to VisualType. More... | |
static void | InsertMesh (const common::Mesh *_mesh, const std::string &_subMesh="", bool _centerSubmesh=false) |
Insert a mesh into Ogre. More... | |
Protected Member Functions | |
Visual (VisualPrivate &_dataPtr, const std::string &_name, ScenePtr _scene, bool _useRTShader=true) | |
Visual (VisualPrivate &_dataPtr, const std::string &_name, VisualPtr _parent, bool _useRTShader=true) | |
void | ProcessMaterialMsg (const ignition::msgs::Material &_msg) |
Process a material message. More... | |
Protected Attributes | |
VisualPrivate * | dataPtr |
A renderable object.
enum VisualType |
Constructor.
[in] | _name | Name of the visual. |
[in] | _parent | Parent of the visual. |
[in] | _useRTShader | True if the visual should use the real-time shader system (RTShader). |
Constructor.
[in] | _name | Name of the visual. |
[in] | _scene | Scene containing the visual. |
[in] | _useRTShader | True if the visual should use the real-time shader system (RTShader). |
|
virtual |
Destructor.
|
protected |
|
protected |
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.
[in] | _pair | Pair with the child visual type and the message for the child. |
ignition::math::Color Ambient | ( | ) | const |
Get the ambient color of the visual.
void AttachLineVertex | ( | DynamicLines * | _line, |
unsigned int | _index | ||
) |
Attach a vertex of a line to the position of the visual.
[in] | _line | Line to attach to this visual. |
[in] | _index | Index of the line vertex to attach. |
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.
[in] | _meshName | Name of the mesh. |
[in] | _subMesh | Name of the submesh. Empty string to use all submeshes. |
[in] | _centerSubmesh | True to center a submesh. |
[in] | _objName | Name of the attached Object to put the mesh onto. |
void AttachObject | ( | Ogre::MovableObject * | _obj | ) |
Attach a renerable object to the visual.
[in] | _obj | A movable object to attach to the visual. |
void AttachVisual | ( | VisualPtr | _vis | ) |
Attach a visual to this visual.
[in] | _vis | Visual to attach. |
ignition::math::Box BoundingBox | ( | ) | const |
Get the bounding box for the visual.
void ClearParent | ( | ) |
Clear parents.
|
static |
Convert from msgs::Visual::Type to VisualType.
[in] | _type | A msgs::Visual::Type enum. |
|
static |
Convert from msgs::Visual::Type to VisualType.
[in] | _type | VisualType enum. |
DynamicLines* CreateDynamicLine | ( | RenderOpType | _type = RENDERING_LINE_STRIP | ) |
Add a line to the visual.
[in] | _type | The type of line to make. |
void DeleteDynamicLine | ( | DynamicLines * | _line | ) |
Delete a dynamic line.
[in] | _line | Pointer to the line to delete. |
ignition::math::Vector3d DerivedScale | ( | ) | const |
Get the scale of the visual as inherited from all parents.
float DerivedTransparency | ( | ) | const |
Get the transparency of the visual as inherited from all parents.
void DetachObjects | ( | ) |
Detach all objects.
void DetachVisual | ( | const std::string & | _name | ) |
Detach a visual.
[in] | _name | Name of the visual to detach. |
ignition::math::Color Diffuse | ( | ) | const |
Get the diffuse color of the visual.
void DisableTrackVisual | ( | ) |
Disable tracking of a visual.
ignition::math::Color Emissive | ( | ) | const |
Get the emissive color of the visual.
void EnableTrackVisual | ( | VisualPtr | _vis | ) |
Set one visual to track/follow another.
[in] | _vis | Visual to track. |
void FillMaterialMsg | ( | ignition::msgs::Material & | _msg | ) | const |
Fill an ignition::msgs::Material message based on this visual's material properties.
[out] | _msg | Ignition message to fill. |
|
virtual |
Helper for the destructor.
Reimplemented in WrenchVisual, LogicalCameraVisual, JointVisual, CameraVisual, and ApplyWrenchVisual.
unsigned int GetAttachedObjectCount | ( | ) | const |
Return the number of attached movable objects.
bool GetCastShadows | ( | ) | const |
Get whether the visual casts shadows.
VisualPtr GetChild | ( | unsigned int | _index | ) |
Get an attached visual based on an index.
Index should be between 0 and Visual::GetChildCount.
[in] | _index | Index of the child to retreive. |
unsigned int GetChildCount | ( | ) |
Get the number of attached visuals.
unsigned int GetDepth | ( | ) | const |
Get the depth of this visual, where 0 is the depth of the world visual.
ignition::math::Vector3d GetGeometrySize | ( | ) | const |
Get the geometry size.
std::string GetGeometryType | ( | ) | const |
Get the geometry type.
bool GetHighlighted | ( | ) | const |
Get whether or not the visual is visually highlighted.
This is most often means that an object is selected by a user via the GUI.
uint32_t GetId | ( | ) | const |
Get the id associated with this visual.
bool GetLighting | ( | ) | const |
Get whether or not lighting is enabled.
std::string GetMaterialName | ( | ) | const |
Get the name of the material.
std::string GetMeshName | ( | ) | const |
The name of the mesh set in the visual's SDF.
std::string GetNormalMap | ( | ) | const |
Get the normal map.
VisualPtr GetNthAncestor | ( | unsigned int | _n | ) |
Get the nth ancestor counting from the world visual.
GetNthAncestor(0) returns the world visual. GetNthAncestor(1) returns the RootVisual. GetNthAncestor(2) returns the ancestor which is a child of the root visual and so on.
[in] | _n | Depth of the ancestor. |
VisualPtr GetParent | ( | ) | const |
Get the parent visual, if one exists.
VisualPtr GetRootVisual | ( | ) |
Get the root visual.
ScenePtr GetScene | ( | ) | const |
Get current.
Ogre::SceneNode* GetSceneNode | ( | ) | const |
Return the scene Node of this visual entity.
sdf::ElementPtr GetSDF | ( | ) | const |
Get the visual SDF.
Note that visuals are abstract. This SDF could be associated with a visual that represents a model, a link, a visual (inside a link), or a visualization object (e.g. LaserVisual). Therefore this SDF may store more fields than actually used.
std::string GetShaderType | ( | ) | const |
Get the shader type.
std::string GetSubMeshName | ( | ) | const |
Get the name of the sub mesh set in the visual's SDF.
float GetTransparency | ( | ) |
Get the transparency.
Visual::VisualType GetType | ( | ) | const |
Get type of visual.
uint32_t GetVisibilityFlags | ( | ) |
Get visibility flags for this visual and all children.
bool GetVisible | ( | ) | const |
Get whether the visual is visible.
bool HasAttachedObject | ( | const std::string & | _name | ) |
Returns true if an object with _name is attached.
[in] | _name | Name of an object to find. |
bool InheritTransparency | ( | ) | const |
Get whether this visual inherits transparency from parent.
void Init | ( | ) |
Helper for the contructor.
ignition::math::Pose3d InitialRelativePose | ( | ) | const |
Get the initial relative pose of the visual.
|
static |
Insert a mesh into Ogre.
[in] | _mesh | Pointer to the mesh to insert. |
[in] | _subMesh | Name of the mesh within _meshName to insert. |
[in] | _centerSubmesh | True to center the submesh. |
void InsertMesh | ( | const std::string & | _meshName, |
const std::string & | _subMesh = "" , |
||
bool | _centerSubmesh = false |
||
) |
Insert a mesh into Ogre.
[in] | _meshName | Name of the mesh to insert. |
[in] | _subMesh | Name of the mesh within _meshName to insert. |
[in] | _centerSubmesh | True to center the submesh. |
bool IsAncestorOf | ( | const rendering::VisualPtr | _visual | ) | const |
Check if this visual is an ancestor of another visual.
[in] | _visual | The other visual. |
bool IsDescendantOf | ( | const rendering::VisualPtr | _visual | ) | const |
Check if this visual is a descendant of another visual.
[in] | _visual | The other visual. |
bool IsPlane | ( | ) | const |
Return true if the visual is a plane.
bool IsStatic | ( | ) | const |
Return true if the visual is a static geometry.
|
virtual |
Load the visual with default parameters.
Reimplemented in WrenchVisual, Road2d, LogicalCameraVisual, JointVisual, InertiaVisual, COMVisual, CameraVisual, WrenchVisual, TransmitterVisual, SonarVisual, SelectionObj, Road2d, OriginVisual, LogicalCameraVisual, LinkFrameVisual, JointVisual, InertiaVisual, COMVisual, CameraVisual, AxisVisual, ArrowVisual, and ApplyWrenchVisual.
void Load | ( | sdf::ElementPtr | _sdf | ) |
Load the visual with a set of parameters.
[in] | _sdf | Load from an SDF element. |
void LoadFromMsg | ( | ConstVisualPtr & | _msg | ) |
Load from a message.
[in] | _msg | A visual message. |
void LoadPlugin | ( | const std::string & | _filename, |
const std::string & | _name, | ||
sdf::ElementPtr | _sdf | ||
) |
Load a plugin.
_filename | The filename of the plugin |
_name | A unique name for the plugin |
_sdf | The SDF to pass into the plugin. |
void MakeStatic | ( | ) |
Make the visual objects static renderables.
void MoveToPosition | ( | const ignition::math::Pose3d & | _pose, |
const double | _time | ||
) |
Move to a pose and over a given time.
[in] | _pose | Pose the visual will end at. |
[in] | _time | Time it takes the visual to move to the pose. |
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.
[in] | _poses | Series of poses the visual will move to. |
[in] | _time | Time it takes the visual to move to the pose. |
[in] | _onComplete | Callback used when the move is complete. |
std::string Name | ( | ) | const |
Get the name of the visual.
ignition::math::Pose3d Pose | ( | ) | const |
Get the pose of the visual.
ignition::math::Vector3d Position | ( | ) | const |
Get the position of the visual.
|
protected |
Process a material message.
[in] | _msg | The ignition material message. |
void RemovePlugin | ( | const std::string & | _name | ) |
Remove a running plugin.
_name | The unique name of the plugin to remove |
ignition::math::Quaterniond Rotation | ( | ) | const |
Get the rotation of the visual.
ignition::math::Vector3d Scale | ( | ) | const |
Get the scale.
void SetAmbient | ( | const ignition::math::Color & | _color, |
const bool | _cascade = true |
||
) |
Set the ambient color of the visual.
[in] | _color | The ambient color. |
[in] | _cascade | Whether to set this parameter in children too. |
void SetCastShadows | ( | bool | _shadows | ) |
Set whether the visual should cast shadows.
[in] | _shadows | True to enable shadows. |
void SetDiffuse | ( | const ignition::math::Color & | _color, |
const bool | _cascade = true |
||
) |
Set the diffuse color of the visual.
[in] | _color | Set the diffuse color. |
[in] | _cascade | Whether to set this parameter in children too. |
|
virtual |
Set the emissive value.
[in] | _color | The emissive color. |
[in] | _cascade | Whether to set this parameter in children too. |
Reimplemented in LaserVisual.
|
virtual |
Set the visual to be visually highlighted.
This is most often used when an object is selected by a user via the GUI.
[in] | _highlighted | True to enable the highlighting. |
Reimplemented in LinkFrameVisual.
void SetId | ( | uint32_t | _id | ) |
Set the id associated with this visual.
void SetInheritTransparency | ( | const bool | _inherit | ) |
Set whether to inherit transparency from parent.
[in] | _inherit | True to inherit transparency. |
void SetLayer | ( | const int32_t | _layer | ) |
Set the layer this visual belongs to.
[in] | _layer | Index of the layer. |
void SetLighting | ( | bool | _lighting | ) |
Set whether or not to enable or disable lighting.
[in] | _lighting | True to enable lighting. |
void SetMaterial | ( | const std::string & | _materialName, |
bool | _unique = true , |
||
const bool | _cascade = true |
||
) |
Set the material.
[in] | _materialName | The name of the material. |
[in] | _unique | True to make the material unique, which allows the material to change without changing materials that originally had the same name. |
[in] | _cascade | Whether to set this parameter in children too. |
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.
[in] | _paramName | Name of shader parameter |
[in] | _shaderType | Type of shader. Supported types: vertex, fragment |
[in] | _value | Value to set the parameter to. The value string can be a number (int, float) or a space delimited array of numbers (floats). The value type must match the type defined in the shaders. Note: Setting vec2/float2 params is only supported in ogre1.9+ |
void SetName | ( | const std::string & | _name | ) |
Set the name of the visual.
[in] | _name | Name of the visual |
void SetNormalMap | ( | const std::string & | _nmap | ) |
Set the normal map.
[in] | _nmap | Name of the normal map material. |
void SetPose | ( | const ignition::math::Pose3d & | _pose | ) |
Set the pose of the visual.
[in] | _pose | The new pose of the visual. |
void SetPosition | ( | const ignition::math::Vector3d & | _pos | ) |
Set the position of the visual.
[in] | _pos | The position to set the visual to. |
void SetRibbonTrail | ( | bool | _value, |
const ignition::math::Color & | _initialColor, | ||
const ignition::math::Color & | _changeColor | ||
) |
True on or off a ribbon trail.
[in] | _value | True to enable ribbon trail. |
[in] | _initialColor | The initial color of the ribbon trail. |
[in] | _changeColor | Color to change too as the trail grows. |
void SetRotation | ( | const ignition::math::Quaterniond & | _rot | ) |
Set the rotation of the visual.
[in] | _rot | The rotation of the visual. |
void SetScale | ( | const ignition::math::Vector3d & | _scale | ) |
Set the scale.
[in] | _scale | The scaling factor for the visual. |
void SetScene | ( | ScenePtr | _scene | ) |
Set current scene.
[in] | _scene | Pointer to the scene. |
void SetShaderType | ( | const std::string & | _type | ) |
Set the shader type for the visual's material.
[in] | _type | Shader type string: "vertex", "pixel", "normal_map_object_space", "normal_map_tangent_space". |
void SetSkeletonPose | ( | const msgs::PoseAnimation & | _pose | ) |
Set animation skeleton pose.
[in] | _pose | Skelton message |
void SetSpecular | ( | const ignition::math::Color & | _color, |
const bool | _cascade = true |
||
) |
Set the specular color of the visual.
[in] | _color | Specular color. |
[in] | _cascade | Whether to set this parameter in children too. |
void SetTransparency | ( | float | _trans | ) |
Set the transparency.
[in] | _trans | The transparency, between 0 and 1 where 0 is no transparency. |
void SetType | ( | const Visual::VisualType | _type | ) |
Set type of visual.
[in] | _type | Visual type. |
void SetTypeMsg | ( | const google::protobuf::Message * | _msg | ) |
Set a message specific for this visual type.
For example, a link visual will have a link message.
[in] | _msg | Message for this visual. |
void SetVisibilityFlags | ( | uint32_t | _flags | ) |
Set visibility flags for this visual and all children.
[in] | _flags | The visiblity flags. |
|
virtual |
Set whether the visual is visible.
[in] | _visible | set this visual visible. |
[in] | _cascade | setting this parameter in children too. |
Reimplemented in JointVisual, and ArrowVisual.
void SetWireframe | ( | bool | _show | ) |
Enable or disable wireframe for this visual.
[in] | _show | True to enable wireframe for this visual. |
void SetWorldPose | ( | const ignition::math::Pose3d & | _pose | ) |
Set the world pose of the visual.
[in] | _pose | Pose of the visual in the world coordinate frame. |
void SetWorldPosition | ( | const ignition::math::Vector3d & | _pos | ) |
Set the world linear position of the visual.
[in] | _pose | Position in the world coordinate frame. |
void SetWorldRotation | ( | const ignition::math::Quaterniond & | _rot | ) |
Set the world orientation of the visual.
[in] | _rot | Rotation in the world coordinate frame. |
void ShowBoundingBox | ( | ) |
Display the bounding box visual.
void ShowCollision | ( | bool | _show | ) |
Display the collision visuals.
[in] | _show | True to show visuals labeled as collision objects. |
void ShowCOM | ( | bool | _show | ) |
Display Center of Mass visuals.
[in] | _show | True to show center of mass visualizations. |
void ShowInertia | ( | bool | _show | ) |
Display inertia visuals.
[in] | _show | True to show inertia visualizations. |
void ShowJoints | ( | bool | _show | ) |
Display joint visuals.
[in] | _show | True to show joint visualizations. |
void ShowLinkFrame | ( | bool | _show | ) |
Display link frame visuals.
[in] | _show | True to show link frame visualizations. |
void ShowSkeleton | ( | bool | _show | ) |
Display the skeleton visuals.
[in] | _show | True to show skeleton visuals. |
ignition::math::Color Specular | ( | ) | const |
Get the specular color of the visual.
void ToggleLayer | ( | const int32_t | _layer | ) |
Toggle layer visibility.
If the visual is on the specified layer its visibility will be toggled.
[in] | _layer | Index of the layer to toggle. |
void ToggleVisible | ( | ) |
Toggle whether this visual is visible.
void Update | ( | ) |
Update the visual.
void UpdateFromMsg | ( | ConstVisualPtr & | _msg | ) |
Update a visual based on a message.
[in] | _msg | The visual message. |
bool UseRTShader | ( | ) | const |
Get whether this visual uses RT shader system.
bool Wireframe | ( | ) | const |
Get whether wireframe is enabled for this visual.
ignition::math::Pose3d WorldPose | ( | ) | const |
Get the global pose of the visual.
|
protected |