Gazebo Gui

API Reference

8.1.0
MinimalScene.hh
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1/*
2 * Copyright (C) 2017 Open Source Robotics Foundation
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 *
16*/
17
18#ifndef GZ_GUI_PLUGINS_MINIMALSCENE_HH_
19#define GZ_GUI_PLUGINS_MINIMALSCENE_HH_
20
21#include <string>
22#include <memory>
23
24#include <gz/common/KeyEvent.hh>
25#include <gz/common/MouseEvent.hh>
26#include <gz/math/Color.hh>
27#include <gz/math/Pose3.hh>
28#include <gz/math/Vector2.hh>
29#include <gz/utils/ImplPtr.hh>
31
32#include "gz/gui/Plugin.hh"
33
34#include "MinimalSceneRhi.hh"
35
36namespace gz::gui::plugins
37{
69 class MinimalScene : public Plugin
70 {
71 Q_OBJECT
72
74 Q_PROPERTY(
75 QString loadingError
76 READ LoadingError
77 WRITE SetLoadingError
78 NOTIFY LoadingErrorChanged
79 )
80
81
82 public: MinimalScene();
83
87 public slots: void OnHovered(int _mouseX, int _mouseY);
88
91 public slots: void OnFocusWindow();
92
97 public slots: void OnDropped(const QString &_drop,
98 int _mouseX, int _mouseY);
99
100 // Documentation inherited
101 public: virtual void LoadConfig(const tinyxml2::XMLElement *_pluginElem)
102 override;
103
106 public: Q_INVOKABLE QString LoadingError() const;
107
110 public: Q_INVOKABLE void SetLoadingError(const QString &_loadingError);
111
113 signals: void LoadingErrorChanged();
114
116 public: QString loadingError;
117
120 GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
121 };
122
123 class RenderSync;
124
132 {
134 public: GzRenderer();
135
139 public: void Render(RenderSync *_renderSync,
140 RenderThreadRhi &_renderThreadRhi);
141
148
151 public: void SetGraphicsAPI(const rendering::GraphicsAPI &_graphicsAPI);
152
154 public: void Destroy();
155
158 public: void NewMouseEvent(const common::MouseEvent &_e);
159
162 public: void NewHoverEvent(const math::Vector2i &_hoverPos);
163
167 public: void NewDropEvent(const std::string &_dropText,
168 const math::Vector2i &_dropPos);
169
172 public: void HandleKeyPress(const common::KeyEvent &_e);
173
176 public: void HandleKeyRelease(const common::KeyEvent &_e);
177
179 private: void HandleMouseEvent();
180
182 private: void BroadcastHoverPos();
183
185 private: void BroadcastDrag();
186
188 private: void BroadcastLeftClick();
189
191 private: void BroadcastRightClick();
192
194 private: void BroadcastMousePress();
195
197 private: void BroadcastScroll();
198
200 private: void BroadcastKeyRelease();
201
203 private: void BroadcastDrop();
204
206 private: void BroadcastKeyPress();
207
209 public: std::string engineName = "ogre";
210
212 public: std::string sceneName = "scene";
213
215 public: math::Pose3d cameraPose = math::Pose3d(0, 0, 2, 0, 0.4, 0);
216
218 public: double cameraNearClip = 0.01;
219
221 public: double cameraFarClip = 1000.0;
222
224 public: math::Color backgroundColor = math::Color::Black;
225
227 public: math::Color ambientLight = math::Color(0.3f, 0.3f, 0.3f, 1.0f);
228
230 public: bool initialized = false;
231
233 public: QSize textureSize = QSize(1024, 1024);
234
236 public: bool textureDirty = true;
237
239 public: bool skyEnable = false;
240
242 public: math::Angle cameraHFOV = math::Angle(M_PI * 0.5);
243
245 public: std::string cameraViewController{""};
246
249 public: rendering::CameraPtr Camera();
250
253 GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
254 };
255
257 class RenderThread : public QThread
258 {
259 Q_OBJECT
260
262 public: RenderThread();
263
267 public slots: void RenderNext(RenderSync *_renderSync);
268
270 public slots: void ShutDown();
271
273 public slots: void SizeChanged();
274
279 signals: void TextureReady(void* _texturePtr, const QSize &_size);
280
283 public: void SetErrorCb(std::function<void(const QString &)> _cb);
284
286 public: std::function<void(const QString &)> errorCb;
287
289 public: QOffscreenSurface *Surface() const;
290
293 public: void SetSurface(QOffscreenSurface *_surface);
294
296 public: QOpenGLContext *Context() const;
297
300 public: void SetContext(QOpenGLContext *_context);
301
304 public: void SetGraphicsAPI(const rendering::GraphicsAPI &_graphicsAPI);
305
309
312
315 };
316
318 class RenderWindowItem : public QQuickItem
319 {
320 Q_OBJECT
321
324 public: explicit RenderWindowItem(QQuickItem *_parent = nullptr);
325
327
330 public: void SetBackgroundColor(const math::Color &_color);
331
334 public: void SetAmbientLight(const math::Color &_ambient);
335
338 public: void SetEngineName(const std::string &_name);
339
342 public: void SetSceneName(const std::string &_name);
343
346 public: void SetCameraPose(const math::Pose3d &_pose);
347
350 public: void SetCameraNearClip(double _near);
351
354 public: void SetCameraFarClip(double _far);
355
359 public: void OnHovered(const gz::math::Vector2i &_hoverPos);
360
364 public: void OnDropped(const QString &_drop,
365 const gz::math::Vector2i &_dropPos);
366
369 public: void SetSkyEnabled(const bool &_sky);
370
373 public: void SetCameraHFOV(const math::Angle &_fov);
374
377 public: void SetGraphicsAPI(const rendering::GraphicsAPI& _graphicsAPI);
378
381 public: void SetCameraViewController(const std::string &_view_controller);
382
384 public Q_SLOTS: void Ready();
385
388 public: void HandleKeyPress(const common::KeyEvent &_e);
389
392 public: void HandleKeyRelease(const common::KeyEvent &_e);
393
396 public: void SetErrorCb(std::function<void(const QString &)> _cb);
397
399 public: void StopRendering();
400
401 // Documentation inherited
402 protected: virtual void mousePressEvent(QMouseEvent *_e) override;
403
404 // Documentation inherited
405 protected: virtual void mouseReleaseEvent(QMouseEvent *_e) override;
406
407 // Documentation inherited
408 protected: virtual void mouseMoveEvent(QMouseEvent *_e) override;
409
410 // Documentation inherited
411 protected: virtual void keyPressEvent(QKeyEvent *_e) override;
412
413 // Documentation inherited
414 protected: virtual void keyReleaseEvent(QKeyEvent *_e) override;
415
416 // Documentation inherited
417 protected: virtual void wheelEvent(QWheelEvent *_e) override;
418
425 private: QSGNode *updatePaintNode(QSGNode *_oldNode,
426 QQuickItem::UpdatePaintNodeData *_data) override;
427
430 GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
431 };
432
434 class TextureNode : public QObject, public QSGSimpleTextureNode
435 {
436 Q_OBJECT
437
444 public: explicit TextureNode(QQuickWindow *_window,
445 RenderSync &_renderSync,
446 const rendering::GraphicsAPI &_graphicsAPI,
447 rendering::CameraPtr &_camera);
448
450 public: ~TextureNode() override;
451
456 // public slots: void NewTexture(uint _id, const QSize &_size);
457 public slots: void NewTexture(void* _texturePtr, const QSize &_size);
458
461 public slots: void PrepareNode();
462
464 signals: void TextureInUse(RenderSync *_renderSync);
465
468 signals: void PendingNewTexture();
469
471 public: QSize size = QSize(0, 0);
472
474 public: QMutex mutex;
475
477 public: RenderSync &renderSync;
478
480 public: QQuickWindow *window = nullptr;
481
484 };
485} // namespace gz::gui::plugins
486
487#endif // GZ_GUI_PLUGINS_MINIMALSCENE_HH_