pxmlw6n2f/Gazebo_Distributed_TCP/gazebo/rendering/Projector.hh

/*
 * 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.
 *
*/
/*
 * Desc: Projector
 * Author: Jared Duke, (some maintainence by John Hsu)
 */

#ifndef _PROJECTOR_HH_
#define _PROJECTOR_HH_

#include <string>
#include <map>
#include <list>
#include <sdf/sdf.hh>

#include "gazebo/rendering/ogre_gazebo.h"

#include "gazebo/msgs/msgs.hh"
#include "gazebo/transport/transport.hh"
#include "gazebo/rendering/RenderTypes.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace rendering
  {
    /// \addtogroup gazebo_rendering
    /// \{

    /// \class Projector Projector.hh rendering/rendering.hh
    /// \brief Projects a material onto surface, light a light projector.
    class GZ_RENDERING_VISIBLE Projector
    {
      /// \brief Constructor.
      /// \param[in] _parent Name of the parent visual.
      public: Projector(VisualPtr _parent);

      /// \brief Destructor.
      public: virtual ~Projector();

      /// \brief Load from an sdf pointer.
      /// \param[in] _sdf Pointer to the SDF element.
      public: void Load(sdf::ElementPtr _sdf);

      /// \brief Load from a message.
      /// \param[in] _msg Load from a message.
      public: void Load(const msgs::Projector &_msg);

      /// \brief Load the projector.
      /// \param[in] _name Name of the projector.
      /// \param[in] _pos Pose of the projector.
      /// \param[in] _textureName Name of the texture to project.
      /// \param[in] _nearClip Near clip distance.
      /// \param[in] _farClip Far clip distance.
      /// \param[in] _fov Field of view.
      public: void Load(const std::string &_name,
                        const math::Pose &_pose = math::Pose(0, 0, 0, 0, 0, 0),
                        const std::string &_textureName = "",
                        double _nearClip = 0.25,
                        double _farClip = 15.0,
                        double _fov = M_PI * 0.25);

      /// \brief Load a texture into the projector.
      /// \param[in] _textureName Name of the texture to project.
      public: void SetTexture(const std::string &_textureName);

      /// \brief Toggle the activation of the projector.
      public: void Toggle();

      /// \brief Get the parent visual.
      /// \return Pointer to the parent visual.
      public: VisualPtr GetParent();

      /// \brief Set whether the projector is enabled or disabled.
      /// \param[in] _enabled True to enable the projector.
      public: void SetEnabled(bool _enabled);

      private: void OnMsg(ConstProjectorPtr &_msg);

      private: VisualPtr visual;
      private: transport::NodePtr node;
      private: transport::SubscriberPtr controlSub;

      /// \cond
      /// \class ProjectorFrameListener Projector.hh rendering/rendering.hh
      /// \brief Frame listener, used to add projection materials when new
      /// textures are added to Ogre.
      private: class ProjectorFrameListener : public Ogre::FrameListener
      {
        /// \brief Constructor.
        public: ProjectorFrameListener();

        /// \brief Destructor.
        public: virtual ~ProjectorFrameListener();

        public: void Init(VisualPtr _visual,
                          const std::string &_textureName,
                          double _near = 0.5,
                          double _far = 10,
                          double _fov = 0.785398163);

        public: virtual bool frameStarted(const Ogre::FrameEvent &_evt);

        public: void SetTexture(const std::string &_textureName);

        public: void SetEnabled(bool _enabled);
        public: void SetUsingShaders(bool _usingShaders);

        public: void SetPose(const math::Pose &_pose);

        private: void SetSceneNode();

        private: void SetFrustumClipDistance(double _near, double _far);
        private: void SetFrustumFOV(double _fov);
        private: void AddPassToAllMaterials();
        private: void AddPassToVisibleMaterials();
        private: void AddPassToMaterials(std::list<std::string> &_matList);
        private: void AddPassToMaterial(const std::string &_matName);
        private: void RemovePassFromMaterials();
        private: void RemovePassFromMaterial(const std::string &_matName);

        public: bool enabled;
        public:  bool initialized;
        private: bool usingShaders;

        private: std::string nodeName;
        private: std::string filterNodeName;

        private: std::string textureName;

        private: Ogre::Frustum *frustum;
        private: Ogre::Frustum *filterFrustum;
        private: Ogre::PlaneBoundedVolumeListSceneQuery *projectorQuery;

        private: VisualPtr visual;

        private: Ogre::SceneNode *node;
        private: Ogre::SceneNode *filterNode;
        private: Ogre::SceneManager *sceneMgr;
        private: std::map<std::string, Ogre::Pass*> projectorTargets;
      };
      /// \endcond

      /// \brief The projection frame listener.
      private: ProjectorFrameListener projector;
    };
    /// \}
  }
}
#endif