110 lines
2.6 KiB
C++
110 lines
2.6 KiB
C++
/*
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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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#include <boost/thread.hpp>
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#include "gazebo/common/Exception.hh"
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#include "gazebo/common/Console.hh"
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#include "gazebo/rendering/RenderEngine.hh"
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#include "gazebo/rendering/RenderingIface.hh"
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using namespace gazebo;
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//////////////////////////////////////////////////
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bool rendering::load()
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{
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bool result = true;
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try
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{
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rendering::RenderEngine::Instance()->Load();
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}
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catch(common::Exception &e)
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{
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result = false;
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gzerr << "Failed to load the Rendering engine subsystem\n" << e;
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}
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return result;
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}
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//////////////////////////////////////////////////
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bool rendering::init()
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{
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bool result = true;
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// Initialize RenderEngine
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try
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{
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rendering::RenderEngine::Instance()->Init();
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}
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catch(common::Exception &e)
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{
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result = false;
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gzerr << "Failed to Initialize the Rendering engine subsystem\n" << e;
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}
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return result;
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}
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//////////////////////////////////////////////////
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bool rendering::fini()
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{
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rendering::RenderEngine::Instance()->Fini();
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return true;
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}
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//////////////////////////////////////////////////
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rendering::ScenePtr rendering::get_scene(const std::string &_name)
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{
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return rendering::RenderEngine::Instance()->GetScene(_name);
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}
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//////////////////////////////////////////////////
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rendering::ScenePtr rendering::create_scene(const std::string &_name,
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bool _enableVisualizations,
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bool _isServer)
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{
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ScenePtr scene = get_scene(_name);
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if (!scene)
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{
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// Create a default scene for the gui
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try
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{
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scene = rendering::RenderEngine::Instance()->CreateScene(_name,
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_enableVisualizations, _isServer);
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}
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catch(common::Exception &e)
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{
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gzerr << "Failed to create a scene in the Rendering engine"
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<< e << std::endl;
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}
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catch(...)
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{
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gzerr << "Faild to create a scene\n";
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}
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}
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return scene;
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}
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//////////////////////////////////////////////////
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void rendering::remove_scene(const std::string &_name)
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{
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rendering::RenderEngine::Instance()->RemoveScene(_name);
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}
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