Revision: 9012
http://playerstage.svn.sourceforge.net/playerstage/?rev=9012&view=rev
Author: natepak
Date: 2010-12-14 14:35:25 +0000 (Tue, 14 Dec 2010)
Log Message:
-----------
Updates
Removed Paths:
-------------
code/gazebo/branches/dev/server/rendering/OgreCreator.cc
code/gazebo/branches/dev/server/rendering/OgreCreator.hh
Deleted: code/gazebo/branches/dev/server/rendering/OgreCreator.cc
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreCreator.cc 2010-12-14
14:33:40 UTC (rev 9011)
+++ code/gazebo/branches/dev/server/rendering/OgreCreator.cc 2010-12-14
14:35:25 UTC (rev 9012)
@@ -1,642 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Some functions that creates Ogre objects together
- * Author: Jordi Polo
- * Date: 27 Dec 2007
- */
-
-#include <Ogre.h>
-
-#include <math.h>
-#include <iostream>
-#include <X11/Xlib.h>
-#include <X11/Xutil.h>
-
-#include "gazebo_config.h"
-
-#include "RTShaderSystem.hh"
-#include "RenderControl.hh"
-#include "Light.hh"
-#include "Material.hh"
-#include "Simulator.hh"
-#include "Global.hh"
-#include "Entity.hh"
-#include "XMLConfig.hh"
-#include "GazeboError.hh"
-#include "GazeboMessage.hh"
-#include "OgreMovableText.hh"
-#include "OgreAdaptor.hh"
-#include "Visual.hh"
-#include "OgreDynamicLines.hh"
-#include "OgreCreator.hh"
-
-using namespace gazebo;
-
-////////////////////////////////////////////////////////////////////////////////
-// Constructor
-OgreCreator::OgreCreator()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Destructor
-OgreCreator::~OgreCreator()
-{
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Create a plane
-/*std::string OgreCreator::CreatePlane(const Vector3 &normal,
- const Vector2<double> &size, const Vector2<double> &segments,
- const Vector2<double> &uvTile, const std::string &name)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return std::string();
-
- Vector3 n = normal;
- std::string resultName;
-
- n.Normalize();
- Vector3 perp = n.GetPerpendicular();
-
- Ogre::Plane plane(Ogre::Vector3(n.x, n.y, n.z), 0);
-
- resultName = name;
- while (!Ogre::MeshManager::getSingleton().getByName(resultName).isNull())
- resultName += "A";
-
- try
- {
- Ogre::MeshManager::getSingleton().createPlane(resultName,
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME, plane,
- size.x, size.y,
- (int)segments.x, (int)segments.y,
- true,1,
- uvTile.x, uvTile.y,
- Ogre::Vector3(perp.x, perp.y, perp.z));
- }
- catch (Ogre::ItemIdentityException e)
- {
- std::cerr << "Error creating plane\n";
- }
-
- return resultName;
-}*/
-
-////////////////////////////////////////////////////////////////////////////////
-/// Remove a mesh by name
-void OgreCreator::RemoveMesh(const std::string &name)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
- if (!name.empty() && Ogre::MeshManager::getSingleton().resourceExists(name))
- Ogre::MeshManager::getSingleton().remove(name);
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Create a window for Ogre
-/*Ogre::RenderWindow *OgreCreator::CreateWindow(RenderControl *wxWindow,
unsigned int width, unsigned int height)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return NULL;
-
- Ogre::RenderWindow *win = NULL;
-
- if (wxWindow)
- {
- //XSync(fl_display, false);
- win = OgreCreator::CreateWindow( wxWindow->GetOgreHandle(), width, height);
-
- if (win)
- this->windows.push_back(win);
- }
-
- return win;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Create a window for Ogre
-Ogre::RenderWindow *OgreCreator::CreateWindow( const std::string ogreHandle,
- unsigned int width,
unsigned int height)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return NULL;
-
- Ogre::StringVector paramsVector;
- Ogre::NameValuePairList params;
- Ogre::RenderWindow *window = NULL;
-
- params["parentWindowHandle"] = ogreHandle;
-
- std::ostringstream stream;
- stream << "OgreWindow(" << windowCounter++ << ")";
-
- int attempts = 0;
- while (window == NULL && (attempts++) < 10)
- {
- try
- {
- window = OgreAdaptor::Instance()->root->createRenderWindow(
stream.str(),
- width, height, false, ¶ms);
- }
- catch (...)
- {
- //gzerr(0) << " Unable to create the rendering window\n";
- window = NULL;
- }
- }
-
- if (attempts >= 10)
- {
- gzthrow("Unable to create the rendering window\n");
- }
-
- window->setActive(true);
- //window->setVisible(true);
- window->setAutoUpdated(false);
-
- this->windows.push_back(window);
-
- return window;
-}*/
-
-////////////////////////////////////////////////////////////////////////////////
-// Create a material from a color definition
-std::string OgreCreator::CreateMaterial(float r, float g, float b, float a)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return std::string();
-
-
- std::ostringstream matNameStream;
-
- matNameStream << "Color[" << r << "," << g << "," << b << "," << a << "]";
-
- if
(!Ogre::MaterialManager::getSingleton().resourceExists(matNameStream.str()))
- {
- Ogre::MaterialPtr matPtr = Ogre::MaterialManager::getSingleton().create(
- matNameStream.str(),"General");
-
- matPtr->getTechnique(0)->setLightingEnabled(true);
- matPtr->getTechnique(0)->getPass(0)->setDiffuse(r,g,b,a);
- matPtr->getTechnique(0)->getPass(0)->setAmbient(r,g,b);
-// matPtr->getTechnique(0)->getPass(0)->setSelfIllumination(r,g,b);
- // matPtr->setReceiveShadows(false);
- }
-
- return matNameStream.str();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Create a material from a gazebo material
-std::string OgreCreator::CreateMaterial(const Material *mat)
-{
- if (Ogre::MaterialManager::getSingleton().resourceExists(mat->GetName()))
- return mat->GetName();
-
- Ogre::MaterialPtr matPtr = Ogre::MaterialManager::getSingleton().create(
- mat->GetName(),"General");
-
- Ogre::Pass *pass = matPtr->getTechnique(0)->getPass(0);
-
- Color ambient = mat->GetAmbient();
- Color diffuse = mat->GetDiffuse();
- Color specular = mat->GetSpecular();
- Color emissive = mat->GetEmissive();
-
- matPtr->getTechnique(0)->setLightingEnabled(true);
- pass->setDiffuse(diffuse.R(), diffuse.G(), diffuse.B(), diffuse.A());
- pass->setAmbient(ambient.R(), ambient.G(), ambient.B());
- pass->setPointSize(mat->GetPointSize());
-
- pass->setSpecular(specular.R(), specular.G(), specular.B(), specular.A());
- pass->setSelfIllumination(emissive.R(), emissive.G(), emissive.B());
- pass->setShininess(mat->GetShininess());
-
- if (!mat->GetTextureImage().empty())
- {
- Ogre::TextureUnitState *texState = pass->createTextureUnitState();
- texState->setTextureName( mat->GetTextureImage() );
- }
-
- return mat->GetName();
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Create a material from a texture file
-std::string OgreCreator::CreateMaterialFromTexFile(const std::string &filename)
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return std::string();
-
- if (!Ogre::MaterialManager::getSingleton().resourceExists(filename))
- {
- Ogre::MaterialPtr matPtr = Ogre::MaterialManager::getSingleton().create(
- filename, "General");
- Ogre::Pass *pass = matPtr->getTechnique(0)->createPass();
-
- //matPtr->setLightingEnabled(false);
-
- //pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
- //pass->setDepthWriteEnabled(false);
- //pass->setDepthCheckEnabled(false);
- pass->createTextureUnitState(filename);
- }
-
- return filename;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Update all the entities
-void OgreCreator::Update()
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return;
-
- std::list<OgreMovableText*>::iterator titer;
- std::list<Ogre::RenderWindow*>::iterator witer;
- std::list<Visual*>::iterator viter;
-
- // Update the text
- for (titer = this->text.begin(); titer != this->text.end(); titer++)
- (*titer)->Update();
-
- // We only need this loop because we are using threads. The physics engine
- // can't reliably set the pose of the visuals when it's running in a
- // separate thread.
- /*if (!this->visuals.empty())
- {
- // NATY: removed
- //boost::recursive_mutex::scoped_lock
lock(*Simulator::Instance()->GetMRMutex());
- // Update the visuals
- for (viter = this->visuals.begin(); viter != this->visuals.end(); viter++)
- {
- if (*viter)
- {
- if ( !(*viter)->IsDirty() )
- continue;
- (*viter)->SetToDirtyPose();
- }
- }
- }*/
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Create a movable text object
-OgreMovableText *OgreCreator::CreateMovableText()
-{
- if (!Simulator::Instance()->GetRenderEngineEnabled())
- return NULL;
-
- OgreMovableText *newText = new OgreMovableText();
- this->text.push_back(newText);
- return newText;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Insert a mesh into Ogre
-void OgreCreator::InsertMesh( const Mesh *mesh)
-{
- Ogre::MeshPtr ogreMesh;
-
- if (mesh->GetSubMeshCount() == 0)
- return;
-
- try
- {
- // Create a new mesh specifically for manual definition.
- ogreMesh = Ogre::MeshManager::getSingleton().createManual(mesh->GetName(),
- Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
-
- for (unsigned int i=0; i < mesh->GetSubMeshCount(); i++)
- {
- Ogre::SubMesh *ogreSubMesh;
- Ogre::VertexData *vertexData;
- Ogre::VertexDeclaration* vertexDecl;
- Ogre::HardwareVertexBufferSharedPtr vBuf;
- Ogre::HardwareIndexBufferSharedPtr iBuf;
- float *vertices;
- unsigned short *indices;
-
-
- size_t currOffset = 0;
-
- const SubMesh *subMesh = mesh->GetSubMesh(i);
-
- ogreSubMesh = ogreMesh->createSubMesh();
- ogreSubMesh->useSharedVertices = false;
- ogreSubMesh->vertexData = new Ogre::VertexData();
- vertexData = ogreSubMesh->vertexData;
- vertexDecl = vertexData->vertexDeclaration;
-
- // The vertexDecl should contain positions, blending weights, normals,
- // diffiuse colors, specular colors, tex coords. In that order.
- vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3,
- Ogre::VES_POSITION);
- currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
-
- // TODO: blending weights
-
- // normals
- if (subMesh->GetNormalCount() > 0 )
- {
- vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT3,
- Ogre::VES_NORMAL);
- currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT3);
- }
-
- // TODO: diffuse colors
-
- // TODO: specular colors
-
- // two dimensional texture coordinates
- if (subMesh->GetTexCoordCount() > 0)
- {
- vertexDecl->addElement(0, currOffset, Ogre::VET_FLOAT2,
- Ogre::VES_TEXTURE_COORDINATES, 0);
- currOffset += Ogre::VertexElement::getTypeSize(Ogre::VET_FLOAT2);
- }
-
- // allocate the vertex buffer
- vertexData->vertexCount = subMesh->GetVertexCount();
-
- vBuf = Ogre::HardwareBufferManager::getSingleton().createVertexBuffer(
- vertexDecl->getVertexSize(0),
- vertexData->vertexCount,
- Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
- false);
-
- vertexData->vertexBufferBinding->setBinding(0, vBuf);
- vertices = static_cast<float*>(vBuf->lock(
- Ogre::HardwareBuffer::HBL_DISCARD));
-
- // allocate index buffer
- ogreSubMesh->indexData->indexCount = subMesh->GetIndexCount();
-
- ogreSubMesh->indexData->indexBuffer =
- Ogre::HardwareBufferManager::getSingleton().createIndexBuffer(
- Ogre::HardwareIndexBuffer::IT_16BIT,
- ogreSubMesh->indexData->indexCount,
- Ogre::HardwareBuffer::HBU_STATIC_WRITE_ONLY,
- false);
-
- iBuf = ogreSubMesh->indexData->indexBuffer;
- indices = static_cast<unsigned short*>(
- iBuf->lock(Ogre::HardwareBuffer::HBL_DISCARD));
-
- unsigned int j;
-
- // Add all the vertices
- for (j =0; j < subMesh->GetVertexCount(); j++)
- {
- *vertices++ = subMesh->GetVertex(j).x;
- *vertices++ = subMesh->GetVertex(j).y;
- *vertices++ = subMesh->GetVertex(j).z;
-
- if (subMesh->GetNormalCount() > 0)
- {
- *vertices++ = subMesh->GetNormal(j).x;
- *vertices++ = subMesh->GetNormal(j).y;
- *vertices++ = subMesh->GetNormal(j).z;
- }
-
- if (subMesh->GetTexCoordCount() > 0)
- {
- *vertices++ = subMesh->GetTexCoord(j).x;
- *vertices++ = subMesh->GetTexCoord(j).y;
- }
- }
-
- // Add all the indices
- for (j =0; j < subMesh->GetIndexCount(); j++)
- *indices++ = subMesh->GetIndex(j);
-
- const Material *material;
- material = mesh->GetMaterial( subMesh->GetMaterialIndex() );
- if (material)
- ogreSubMesh->setMaterialName( OgreCreator::CreateMaterial( material )
);
-
- // Unlock
- vBuf->unlock();
- iBuf->unlock();
- }
-
- Vector3 max = mesh->GetMax();
- Vector3 min = mesh->GetMin();
-
- if (!max.IsFinite())
- gzthrow("Max bounding box is not finite[" << max << "]\n");
-
- if (!min.IsFinite())
- gzthrow("Min bounding box is not finite[" << min << "]\n");
-
-
- ogreMesh->_setBounds( Ogre::AxisAlignedBox(
- Ogre::Vector3(min.x, min.y, min.z),
- Ogre::Vector3(max.x, max.y, max.z)),
- false );
-
- // this line makes clear the mesh is loaded (avoids memory leaks)
- ogreMesh->load();
- }
- catch (Ogre::Exception e)
- {
- gzerr(0) << "Unable to create a basic Unit cylinder object" << std::endl;
- }
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Get the mesh information for the given mesh.
-// Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
-void OgreCreator::GetMeshInformation(const Ogre::MeshPtr mesh,
- size_t &vertex_count,
- Ogre::Vector3* &vertices,
- size_t &index_count,
- unsigned long* &indices,
- const Ogre::Vector3 &position,
- const Ogre::Quaternion &orient,
- const Ogre::Vector3 &scale)
-{
- bool added_shared = false;
- size_t current_offset = 0;
- size_t shared_offset = 0;
- size_t next_offset = 0;
- size_t index_offset = 0;
-
- vertex_count = index_count = 0;
-
- // Calculate how many vertices and indices we're going to need
- for (unsigned short i = 0; i < mesh->getNumSubMeshes(); ++i)
- {
- Ogre::SubMesh* submesh = mesh->getSubMesh( i );
-
- // We only need to add the shared vertices once
- if(submesh->useSharedVertices)
- {
- if( !added_shared )
- {
- vertex_count += mesh->sharedVertexData->vertexCount;
- added_shared = true;
- }
- }
- else
- {
- vertex_count += submesh->vertexData->vertexCount;
- }
-
- // Add the indices
- index_count += submesh->indexData->indexCount;
- }
-
-
- // Allocate space for the vertices and indices
- vertices = new Ogre::Vector3[vertex_count];
- indices = new unsigned long[index_count];
-
- added_shared = false;
-
- // Run through the submeshes again, adding the data into the arrays
- for ( unsigned short i = 0; i < mesh->getNumSubMeshes(); ++i)
- {
- Ogre::SubMesh* submesh = mesh->getSubMesh(i);
-
- Ogre::VertexData* vertex_data = submesh->useSharedVertices ?
mesh->sharedVertexData : submesh->vertexData;
-
- if((!submesh->useSharedVertices)||(submesh->useSharedVertices &&
!added_shared))
- {
- if(submesh->useSharedVertices)
- {
- added_shared = true;
- shared_offset = current_offset;
- }
-
- const Ogre::VertexElement* posElem =
-
vertex_data->vertexDeclaration->findElementBySemantic(Ogre::VES_POSITION);
-
- Ogre::HardwareVertexBufferSharedPtr vbuf =
- vertex_data->vertexBufferBinding->getBuffer(posElem->getSource());
-
- unsigned char* vertex =
- static_cast<unsigned
char*>(vbuf->lock(Ogre::HardwareBuffer::HBL_READ_ONLY));
-
- // There is _no_ baseVertexPointerToElement() which takes an Ogre::Real
or a double
- // as second argument. So make it float, to avoid trouble when
Ogre::Real will
- // be comiled/typedefed as double:
- // Ogre::Real* pReal;
- float* pReal;
-
- for( size_t j = 0; j < vertex_data->vertexCount; ++j, vertex +=
vbuf->getVertexSize())
- {
- posElem->baseVertexPointerToElement(vertex, &pReal);
-
- Ogre::Vector3 pt(pReal[0], pReal[1], pReal[2]);
-
- vertices[current_offset + j] = (orient * (pt * scale)) + position;
- }
-
- vbuf->unlock();
- next_offset += vertex_data->vertexCount;
- }
-
-
- Ogre::IndexData* index_data = submesh->indexData;
- size_t numTris = index_data->indexCount / 3;
- Ogre::HardwareIndexBufferSharedPtr ibuf = index_data->indexBuffer;
-
- bool use32bitindexes = (ibuf->getType() ==
Ogre::HardwareIndexBuffer::IT_32BIT);
-
- unsigned long* pLong = static_cast<unsigned
long*>(ibuf->lock(Ogre::HardwareBuffer::HBL_READ_ONLY));
- unsigned short* pShort = reinterpret_cast<unsigned short*>(pLong);
-
-
- size_t offset = (submesh->useSharedVertices)? shared_offset :
current_offset;
-
- // Ogre 1.6 patch (commenting the static_cast...) - index offsets start
from 0 for each submesh
- if ( use32bitindexes )
- {
- for ( size_t k = 0; k < numTris*3; ++k)
- {
- indices[index_offset++] = pLong[k] /*+ static_cast<unsigned
long>(offset)*/;
- }
- }
- else
- {
- for ( size_t k = 0; k < numTris*3; ++k)
- {
- indices[index_offset++] = static_cast<unsigned long>(pShort[k]) /*+
-
static_cast<unsigned long>(offset)*/;
- }
- }
-
- ibuf->unlock();
- current_offset = next_offset;
- }
-}
-
-////////////////////////////////////////////////////////////////////////////////
-/// Get the world bounding box for a visual
-void OgreCreator::GetVisualBounds(Visual *vis, Vector3 &min, Vector3 &max)
-{
- Ogre::AxisAlignedBox box;
-
- Ogre::SceneNode *node = vis->GetSceneNode();
- GetSceneNodeBounds(node,box);
-
- min.x = box.getMinimum().x;
- min.y = box.getMinimum().y;
- min.z = box.getMinimum().z;
-
- max.x = box.getMaximum().x;
- max.y = box.getMaximum().y;
- max.z = box.getMaximum().z;
-}
-
-////////////////////////////////////////////////////////////////////////////////
-// Get the bounding box for a scene node
-void OgreCreator::GetSceneNodeBounds(Ogre::SceneNode *node,
Ogre::AxisAlignedBox &box)
-{
- node->_updateBounds();
- //box.merge(node->_getWorldAABB());
- Ogre::SceneNode::ChildNodeIterator it = node->getChildIterator();
-
- for (int i=0; i < node->numAttachedObjects(); i++)
- {
- Ogre::MovableObject *obj = node->getAttachedObject(i);
- if (obj->isVisible() && obj->getMovableType() !=
"gazebo::ogredynamiclines")
- {
- Ogre::Any any = obj->getUserAny();
- if (any.getType() == typeid(std::string))
- {
- std::string str = Ogre::any_cast<std::string>(any);
- if (str.substr(0,3) == "rot" || str.substr(0,5) == "trans")
- continue;
- }
- box.merge(obj->getWorldBoundingBox());
- }
- }
-
- while(it.hasMoreElements())
- {
- Ogre::SceneNode *next = dynamic_cast<Ogre::SceneNode*>(it.getNext());
- GetSceneNodeBounds( next, box);
- }
-}
Deleted: code/gazebo/branches/dev/server/rendering/OgreCreator.hh
===================================================================
--- code/gazebo/branches/dev/server/rendering/OgreCreator.hh 2010-12-14
14:33:40 UTC (rev 9011)
+++ code/gazebo/branches/dev/server/rendering/OgreCreator.hh 2010-12-14
14:35:25 UTC (rev 9012)
@@ -1,135 +0,0 @@
-/*
- * Gazebo - Outdoor Multi-Robot Simulator
- * Copyright (C) 2003
- * Nate Koenig & Andrew Howard
- *
- * This program is free software; you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation; either version 2 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program; if not, write to the Free Software
- * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
- *
- */
-/* Desc: Some functions that creates Ogre objects together
- * Author: Jordi Polo
- * Date: 27 Dec 2007
- */
-
-#ifndef OGRECREATOR
-#define OGRECREATOR
-
-#include <stdint.h>
-#include <string>
-#include <vector>
-
-#include "Mesh.hh"
-#include "OgreDynamicRenderable.hh"
-#include "SingletonT.hh"
-#include "Vector3.hh"
-#include "Vector2.hh"
-
-namespace Ogre
-{
- class Camera;
- class RenderTarget;
- class RenderWindow;
-}
-
-typedef struct _XDisplay Display;
-
-namespace gazebo
-{
- class RenderControl;
- class XMLConfigNode;
- class Entity;
- class Visual;
- class OgreMovableText;
- class OgreDynamicLines;
- class Light;
- class Scene;
-
-/// \addtogroup gazebo_rendering
-/// \{
-
-
- /// \brief Functions that creates Ogre3d objects
- class OgreCreator : public SingletonT<OgreCreator>
- {
-
- /// \brief Constructor
- private: OgreCreator();
-
- /// \brief Destructor
- private: virtual ~OgreCreator();
-
- /// \brief Create a Plane
- /// It adds itself to the Visual node parent, it will those change parent
- /// properties if needed, to avoid this create a child visual node for the
- /// plane
- /*public: static std::string CreatePlane(const Vector3 &normal,
- const Vector2<double> &size, const Vector2<double> &segments,
- const Vector2<double> &uvTile, const std::string &material,
- bool castShadows, Visual *parent, const std::string &name);
- */
-
- /// \brief Insert a mesh into Ogre
- public: static void InsertMesh( const Mesh *mesh);
-
- /// \brief Remove a mesh by name
- public: static void RemoveMesh(const std::string &name);
-
- /// \brief Create a material from a color definition
- /// \return The name of the material
- public: static std::string CreateMaterial(float r, float g,
- float b, float a);
-
- /// \brief Create a material from a gazebo material
- public: static std::string CreateMaterial(const Material *mat);
-
- /// \brief Create a material from a texture file
- public: static std::string CreateMaterialFromTexFile(const std::string
&filename);
-
- /// \brief Create a movable text object
- /// \return A new movable text object
- public: OgreMovableText *CreateMovableText();
-
- /// \brief Update all the entities
- public: void Update();
-
- // \brief Get the mesh information for the given mesh.
- // Code found in Wiki: www.ogre3d.org/wiki/index.php/RetrieveVertexData
- public: static void GetMeshInformation(const Ogre::MeshPtr mesh,
- size_t &vertex_count,
- Ogre::Vector3* &vertices,
- size_t &index_count,
- unsigned long* &indices,
- const Ogre::Vector3 &position,
- const Ogre::Quaternion &orient,
- const Ogre::Vector3 &scale);
-
- /// \brief Get the world bounding box for a visual
- public: static void GetVisualBounds(Visual *vis, Vector3 &min,
- Vector3 &max);
-
- public: static void GetSceneNodeBounds(Ogre::SceneNode *node,
Ogre::AxisAlignedBox &box);
-
-
- // List of all the movable text
- private: std::list<OgreMovableText*> text;
-
- private: friend class DestroyerT<OgreCreator>;
- private: friend class SingletonT<OgreCreator>;
-
-/// \}
-
- };
-}
-#endif
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