114 lines
4.6 KiB
C++
114 lines
4.6 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#ifndef _DYNAMICRENDERABLE_HH_
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#define _DYNAMICRENDERABLE_HH_
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#include <string>
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/rendering/RenderTypes.hh"
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#include "gazebo/util/system.hh"
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namespace gazebo
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{
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namespace rendering
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{
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/// \addtogroup gazebo_rendering
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/// \{
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/// \class DynamicRenderable DynamicRenderable.hh rendering/rendering.hh
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/// \brief Abstract base class providing mechanisms for dynamically
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/// growing hardware buffers.
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class GZ_RENDERING_VISIBLE DynamicRenderable : public Ogre::SimpleRenderable
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{
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/// \brief Constructor
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public: DynamicRenderable();
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/// \brief Virtual destructor
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public: virtual ~DynamicRenderable();
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/// \brief Initializes the dynamic renderable.
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/// \remarks This function should only be called once. It initializes the
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/// render operation, and calls the abstract function
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/// CreateVertexDeclaration().
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/// \param[in] _opType The type of render operation to perform.
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/// \param[in] _useIndices Specifies whether to use indices to
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/// determine the vertices to use as input.
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public: void Init(RenderOpType _opType, bool _useIndices = false);
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/// \brief Set the render operation type
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/// \param[in] _opType The type of render operation to perform.
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public: void SetOperationType(RenderOpType _opType);
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/// \brief Get the render operation type
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/// \return The render operation type.
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public: RenderOpType GetOperationType() const;
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/// \brief Implementation of Ogre::SimpleRenderable
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/// \return The bounding radius
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public: virtual Ogre::Real getBoundingRadius() const;
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/// \brief Implementation of Ogre::SimpleRenderable
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/// \param[in] _cam Pointer to the Ogre camera that views the
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/// renderable.
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/// \return The squared depth in the Camera's view
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public: virtual Ogre::Real getSquaredViewDepth(
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const Ogre::Camera *_cam) const;
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/// \brief Get type of movable
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/// \return This returns "gazebo::DynamicRenderable"
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public: std::string GetMovableType() const;
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/// \brief Creates the vertex declaration. @remarks Override and set
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/// mRenderOp.vertexData->vertexDeclaration here. mRenderOp.vertexData
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/// will be created for you before this method is called.
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protected: virtual void CreateVertexDeclaration() = 0;
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/// \brief Prepares the hardware buffers for the requested vertex and
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/// index counts.
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/// \remarks
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/// This function must be called before locking the buffers in
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/// fillHardwareBuffers(). It guarantees that the hardware buffers
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/// are large enough to hold at least the requested number of
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/// vertices and indices (if using indices). The buffers are
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/// possibly reallocated to achieve this.
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/// \par The vertex and index count in the render operation are set to
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/// the values of vertexCount and indexCount respectively.
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/// \param[in] _vertexCount The number of vertices the buffer must hold.
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/// \param[in] _indexCount The number of indices the buffer must hold.
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/// This parameter is ignored if not using indices.
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protected: void PrepareHardwareBuffers(size_t _vertexCount,
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size_t _indexCount);
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/// \brief Fills the hardware vertex and index buffers with data.
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/// @remarks
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/// This function must call prepareHardwareBuffers() before locking the
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/// buffers to ensure the they are large enough for the data to be
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/// written. Afterwards the vertex and index buffers (if using indices)
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/// can be locked, and data can be written to them.
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protected: virtual void FillHardwareBuffers() = 0;
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/// \brief Maximum capacity of the currently allocated vertex buffer.
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protected: size_t vertexBufferCapacity;
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/// \brief Maximum capacity of the currently allocated index buffer.
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protected: size_t indexBufferCapacity;
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};
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/// \}
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}
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}
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#endif
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