Public Member Functions | Private Member Functions | Private Attributes | List of all members
SurgSim::Graphics::OsgCamera Class Reference

OSG implementation of a graphics camera. More...

#include <SurgSim/Graphics/OsgCamera.h>

Inheritance diagram for SurgSim::Graphics::OsgCamera:
SurgSim::Graphics::OsgRepresentation SurgSim::Graphics::Camera SurgSim::Graphics::Representation SurgSim::Graphics::Representation SurgSim::Framework::Representation SurgSim::Framework::Representation SurgSim::Framework::Component SurgSim::Framework::Component SurgSim::Framework::Accessible SurgSim::Framework::Accessible

Public Member Functions

 OsgCamera (const std::string &name)
 Constructor. More...
 
 SURGSIM_CLASSNAME (SurgSim::Graphics::OsgCamera)
 
virtual bool setRenderGroup (std::shared_ptr< Group > group) override
 Sets the group of representations that will be seen by this camera. More...
 
virtual void setVisible (bool visible) override
 Sets whether the representation is currently visible. More...
 
virtual bool isVisible () const override
 Gets whether the representation is currently visible. More...
 
virtual SurgSim::Math::Matrix44d getViewMatrix () const
 Gets the view matrix of the camera. More...
 
virtual SurgSim::Math::Matrix44d getInverseViewMatrix () const
 Gets the inverse view matrix of the camera. More...
 
virtual void setProjectionMatrix (const SurgSim::Math::Matrix44d &matrix) override
 Sets the projection matrix of the camera. More...
 
virtual const SurgSim::Math::Matrix44dgetProjectionMatrix () const override
 Gets the projection matrix of the camera. More...
 
virtual void update (double dt) override
 Updates the representation. More...
 
osg::ref_ptr< osg::Camera > getOsgCamera () const
 
osg::ref_ptr< osg::Node > getOsgNode () const
 
virtual bool setRenderTarget (std::shared_ptr< RenderTarget > renderTarget) override
 Sets RenderTarget for the current camera, enables the camera to render to off-screen textures. More...
 
virtual std::shared_ptr< RenderTargetgetRenderTarget () const override
 Gets RenderTarget that is currently being used by the camera. More...
 
virtual bool setMaterial (std::shared_ptr< Material > material) override
 Sets the material that defines the visual appearance of the representation. More...
 
virtual std::shared_ptr< MaterialgetMaterial () const override
 Gets the material that defines the visual appearance of the representation. More...
 
virtual void clearMaterial () override
 Removes the material from the representation. More...
 
virtual void setRenderOrder (RenderOrder order, int value) override
 Determine when this camera will render. More...
 
virtual void setAmbientColor (const SurgSim::Math::Vector4d &color) override
 Sets a value for the ambient lighting term, this can add light to the scene when there is no lighting. More...
 
virtual SurgSim::Math::Vector4d getAmbientColor () override
 
- Public Member Functions inherited from SurgSim::Graphics::OsgRepresentation
 OsgRepresentation (const std::string &name)
 Constructor. More...
 
virtual ~OsgRepresentation ()
 Destructor. More...
 
osg::ref_ptr< osg::Node > getOsgNode () const
 Returns the root OSG Node for this representations portion of the scene graph. More...
 
virtual void setDrawAsWireFrame (bool val) override
 Sets the representation to render as a wire frame. More...
 
virtual bool getDrawAsWireFrame () const override
 Return if the representation is rendered as a wire frame. More...
 
- Public Member Functions inherited from SurgSim::Graphics::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual ~Representation ()
 Destructor. More...
 
virtual void setLocalActive (bool val) override
 Set the component's active state. More...
 
void addGroupReferences (const std::vector< std::string > &groups)
 Adds a list of group references. More...
 
void setGroupReferences (const std::vector< std::string > &groups)
 Sets the list of group references. More...
 
void setGroupReference (const std::string &group)
 Helper functions, this clears all the references and sets, only the reference given in the parameter. More...
 
std::vector< std::stringgetGroupReferences ()
 Gets group references. More...
 
bool removeGroupReference (const std::string &group)
 Function to remove an unwanted reference. More...
 
void clearGroupReferences ()
 Clear all the Group references. More...
 
- Public Member Functions inherited from SurgSim::Framework::Representation
 Representation (const std::string &name)
 Constructor. More...
 
virtual void setLocalPose (const SurgSim::Math::RigidTransform3d &pose)
 Set the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getLocalPose () const
 Get the pose of the representation with respect to the Scene Element. More...
 
virtual SurgSim::Math::RigidTransform3d getPose () const
 Get the pose of the representation in world coordinates. More...
 
- Public Member Functions inherited from SurgSim::Framework::Component
 Component (const std::string &name)
 Constructor. More...
 
virtual ~Component ()
 Destructor. More...
 
std::string getName () const
 Gets component name. More...
 
void setName (const std::string &name)
 Sets the name of component. More...
 
boost::uuids::uuid getUuid () const
 Gets the id of the component. More...
 
bool isInitialized () const
 
bool initialize (const std::weak_ptr< Runtime > &runtime)
 Initialize this component, this needs to be called before wakeUp() can be called. More...
 
bool isAwake () const
 
bool wakeUp ()
 Wakeup this component, this will be called when the component is inserted into the ComponentManager that is responsible for handling this component. More...
 
void setScene (std::weak_ptr< Scene > scene)
 Sets the scene. More...
 
std::shared_ptr< ScenegetScene ()
 Gets the scene. More...
 
void setSceneElement (std::weak_ptr< SceneElement > sceneElement)
 Sets the scene element. More...
 
std::shared_ptr< SceneElementgetSceneElement ()
 Gets the scene element. More...
 
std::shared_ptr< const SceneElementgetSceneElement () const
 Gets the scene element, constant version. More...
 
std::shared_ptr< RuntimegetRuntime () const
 Get the runtime which contains this component. More...
 
virtual std::string getClassName () const
 The class name for this class, this being the base class it should return SurgSim::Framework::Component but this would make missing implemenentations of this hard to catch, therefore this calls SURGSIM_FAILURE. More...
 
std::shared_ptr< ComponentgetSharedPtr ()
 Gets a shared pointer to this component. More...
 
bool isActive () const
 
bool isLocalActive () const
 
- Public Member Functions inherited from SurgSim::Framework::Accessible
 Accessible ()
 Default Constructor. More...
 
 ~Accessible ()
 Destructor. More...
 
template<class T >
getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found and tries to convert it to the given type. More...
 
boost::any getValue (const std::string &name) const
 Retrieves the value with the name by executing the getter if it is found. More...
 
template<class T >
bool getValue (const std::string &name, T *value) const
 Retrieves the value with the name by executing the getter if it is found, and converts it to the type of the output parameter. More...
 
void setValue (const std::string &name, const boost::any &value)
 Sets a value of a property that has setter. More...
 
bool isReadable (const std::string &name) const
 Check whether a property is readable. More...
 
bool isWriteable (const std::string &name) const
 Check whether a property is writable. More...
 
void setGetter (const std::string &name, GetterType func)
 Sets a getter for a given property. More...
 
void setSetter (const std::string &name, SetterType func)
 Sets a setter for a given property. More...
 
void setAccessors (const std::string &name, GetterType getter, SetterType setter)
 Sets the accessors getter and setter in one function. More...
 
void removeAccessors (const std::string &name)
 Removes all the accessors (getter and setter) for a given property. More...
 
void forwardProperty (const std::string &name, const Accessible &target, const std::string &targetProperty)
 Adds a property with the given name that uses the targets accessors, in effect forwarding the value to the target. More...
 
void setSerializable (const std::string &name, EncoderType encoder, DecoderType decoder)
 Sets the functions used to convert data from and to a YAML::Node. More...
 
YAML::Node encode () const
 Encode this Accessible to a YAML::Node. More...
 
void decode (const YAML::Node &node, const std::vector< std::string > &ignoredProperties=std::vector< std::string >())
 Decode this Accessible from a YAML::Node, will throw an exception if the data type cannot be converted. More...
 
template<>
boost::any getValue (const std::string &name) const
 
- Public Member Functions inherited from SurgSim::Graphics::Camera
 Camera (const std::string &name)
 Constructor. More...
 
void setRenderGroupReference (const std::string &name)
 Set the group reference that this camera wants to use as the group for rendering. More...
 
std::string getRenderGroupReference () const
 Gets the name of the rendergroup used for rendering. More...
 
std::shared_ptr< GroupgetRenderGroup () const
 Gets the group of representations that will be seen by this camera. More...
 
virtual bool addGroupReference (const std::string &name) override
 Add a reference to a group, this will eventual add this representation to the group with the the same name. More...
 

Private Member Functions

void attachRenderTargetTexture (osg::Camera::BufferComponent buffer, std::shared_ptr< Texture > texture)
 Attach a specific texture to a specific BufferComponent, works for Depth and all the Colors. More...
 
void detachCurrentRenderTarget ()
 Detach the current render target from the camera. More...
 

Private Attributes

osg::ref_ptr< osg::Camera > m_camera
 
osg::ref_ptr< osg::Group > m_materialProxy
 
SurgSim::Math::Matrix44d m_projectionMatrix
 Projection matrix of the camera. More...
 
std::unordered_map< int, std::shared_ptr< Texture > > m_textureMap
 
std::shared_ptr< RenderTargetm_renderTarget
 
std::shared_ptr< OsgUniform< SurgSim::Math::Matrix44f > > m_viewMatrixUniform
 Uniform to carry the view matrix. More...
 
std::shared_ptr< OsgUniform< SurgSim::Math::Matrix44f > > m_inverseViewMatrixUniform
 Uniform to carry the inverse view matrix. More...
 
std::shared_ptr< OsgUniform< SurgSim::Math::Vector4f > > m_ambientColorUniform
 Uniform to carry the ambient color. More...
 
SurgSim::Math::Vector4d m_ambientColor
 Value for ambient color. More...
 

Additional Inherited Members

- Public Types inherited from SurgSim::Framework::Component
typedef SurgSim::Framework::ObjectFactory1< SurgSim::Framework::Component, std::stringFactoryType
 
- Public Types inherited from SurgSim::Framework::Accessible
typedef std::function< boost::any(void)> GetterType
 
typedef std::function< void(boost::any)> SetterType
 
typedef std::function< YAML::Node(void)> EncoderType
 
typedef std::function< void(const YAML::Node *)> DecoderType
 
- Public Types inherited from SurgSim::Graphics::Camera
enum  RenderOrder { RENDER_ORDER_PRE_RENDER = 0, RENDER_ORDER_IN_ORDER, RENDER_ORDER_POST_RENDER, RENDER_ORDER_COUNT }
 
- Static Public Member Functions inherited from SurgSim::Framework::Component
static FactoryTypegetFactory ()
 
- Static Public Attributes inherited from SurgSim::Graphics::Representation
static const std::string DefaultGroupName = "__OssDefault__"
 
static const std::string DefaultHudGroupName = "__OssDefaulHud__"
 
- Protected Member Functions inherited from SurgSim::Graphics::OsgRepresentation
virtual void doUpdate (double dt)
 
- Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponentgetPoseComponent ()
 Get the PoseComponent for this component. More...
 
virtual std::shared_ptr< const PoseComponentgetPoseComponent () const
 Get the PoseComponent for this component, constant access. More...
 
- Protected Attributes inherited from SurgSim::Graphics::OsgRepresentation
osg::ref_ptr< osg::Switch > m_switch
 Switch used to toggle the visibility of the representation. More...
 
osg::ref_ptr< osg::PositionAttitudeTransform > m_transform
 Transform used to pose the representation. More...
 
std::shared_ptr< OsgMaterialm_material
 Material defining the visual appearance of the representation. More...
 
bool m_drawAsWireFrame
 Indicates if the representation is rendered as a wireframe. More...
 
- Protected Attributes inherited from SurgSim::Graphics::Representation
bool m_isVisible
 

Detailed Description

OSG implementation of a graphics camera.

A Graphics::OsgCamera wraps a osg::Camera to provide camera functionality and a osg::Switch to allow enabling and disabling of the camera.

Constructor & Destructor Documentation

SurgSim::Graphics::OsgCamera::OsgCamera ( const std::string name)
explicit

Constructor.

Parameters
nameName of the camera The view matrix is initialized with eye at (0, 0, 0), center at (0, 0, -1), and up (0, 1, 0). The projection matrix is initialized to a perspective matrix with FOV Y of 45 deg, Aspect Ratio of 1.0, Z Near of 0.01, and Z Far of 10.0.

Update storage of view and projection matrices

Member Function Documentation

void SurgSim::Graphics::OsgCamera::attachRenderTargetTexture ( osg::Camera::BufferComponent  buffer,
std::shared_ptr< Texture texture 
)
private

Attach a specific texture to a specific BufferComponent, works for Depth and all the Colors.

Parameters
bufferThe BufferComponent enum.
textureThe specific texture to attach.
void SurgSim::Graphics::OsgCamera::clearMaterial ( )
overridevirtual

Removes the material from the representation.

Reimplemented from SurgSim::Graphics::OsgRepresentation.

void SurgSim::Graphics::OsgCamera::detachCurrentRenderTarget ( )
private

Detach the current render target from the camera.

SurgSim::Math::Vector4d SurgSim::Graphics::OsgCamera::getAmbientColor ( )
overridevirtual
Returns
the ambient light that gets added to the scene

Implements SurgSim::Graphics::Camera.

SurgSim::Math::Matrix44d SurgSim::Graphics::OsgCamera::getInverseViewMatrix ( ) const
virtual

Gets the inverse view matrix of the camera.

Returns
Inverse view matrix

Implements SurgSim::Graphics::Camera.

std::shared_ptr< Material > SurgSim::Graphics::OsgCamera::getMaterial ( ) const
overridevirtual

Gets the material that defines the visual appearance of the representation.

Returns
Graphics material

Reimplemented from SurgSim::Graphics::OsgRepresentation.

osg::ref_ptr< osg::Camera > SurgSim::Graphics::OsgCamera::getOsgCamera ( ) const
Returns
the OSG camera node
osg::ref_ptr< osg::Node > SurgSim::Graphics::OsgCamera::getOsgNode ( ) const
Returns
the OSG parent node for this object
const SurgSim::Math::Matrix44d & SurgSim::Graphics::OsgCamera::getProjectionMatrix ( ) const
overridevirtual

Gets the projection matrix of the camera.

Returns
Projection matrix

Implements SurgSim::Graphics::Camera.

std::shared_ptr< RenderTarget > SurgSim::Graphics::OsgCamera::getRenderTarget ( ) const
overridevirtual

Gets RenderTarget that is currently being used by the camera.

Returns
The RenderTarget.

Implements SurgSim::Graphics::Camera.

SurgSim::Math::Matrix44d SurgSim::Graphics::OsgCamera::getViewMatrix ( ) const
virtual

Gets the view matrix of the camera.

Returns
View matrix

Implements SurgSim::Graphics::Camera.

bool SurgSim::Graphics::OsgCamera::isVisible ( ) const
overridevirtual

Gets whether the representation is currently visible.

Returns
visible True for visible, false for invisible

Reimplemented from SurgSim::Graphics::OsgRepresentation.

void SurgSim::Graphics::OsgCamera::setAmbientColor ( const SurgSim::Math::Vector4d color)
overridevirtual

Sets a value for the ambient lighting term, this can add light to the scene when there is no lighting.

Parameters
colorvalue for the light that should get added to the scene

Implements SurgSim::Graphics::Camera.

bool SurgSim::Graphics::OsgCamera::setMaterial ( std::shared_ptr< Material material)
overridevirtual

Sets the material that defines the visual appearance of the representation.

Parameters
materialGraphics material
Returns
True if set successfully, otherwise false
Note
OsgPlaneRepresentation only accepts subclasses of OsgMaterial.

Reimplemented from SurgSim::Graphics::OsgRepresentation.

void SurgSim::Graphics::OsgCamera::setProjectionMatrix ( const SurgSim::Math::Matrix44d matrix)
overridevirtual

Sets the projection matrix of the camera.

Parameters
matrixProjection matrix

Implements SurgSim::Graphics::Camera.

bool SurgSim::Graphics::OsgCamera::setRenderGroup ( std::shared_ptr< Group group)
overridevirtual

Sets the group of representations that will be seen by this camera.

Only the representations in this group will be rendered when this camera's view is rendered.

Note
The camera can not be part of the group that it is rendering
Parameters
groupGroup of representations
Returns
True if it succeeded, false if it failed

Remove any previous group

Reimplemented from SurgSim::Graphics::Camera.

void SurgSim::Graphics::OsgCamera::setRenderOrder ( RenderOrder  order,
int  value 
)
overridevirtual

Determine when this camera will render.

The main camera will render at (RENDER_ORDER_IN_ORDER,0) In general all preprocessing should be done in RENDER_ORDER_PRE_ORDER, HUD Displaying usually at RENDER_ORDER_POST_ORDER

Parameters
orderThe phase of rendering.
valueThe index within the phase, the order between two cameras of the same phase and index is not determined.

Implements SurgSim::Graphics::Camera.

bool SurgSim::Graphics::OsgCamera::setRenderTarget ( std::shared_ptr< RenderTarget renderTarget)
overridevirtual

Sets RenderTarget for the current camera, enables the camera to render to off-screen textures.

Parameters
renderTargetThe render target.

Implements SurgSim::Graphics::Camera.

void SurgSim::Graphics::OsgCamera::setVisible ( bool  visible)
overridevirtual

Sets whether the representation is currently visible.

Note
If the representation is inactive, this method does not have any effect.
Parameters
visibleTrue for visible, false for invisible

Reimplemented from SurgSim::Graphics::OsgRepresentation.

SurgSim::Graphics::OsgCamera::SURGSIM_CLASSNAME ( SurgSim::Graphics::OsgCamera  )
void SurgSim::Graphics::OsgCamera::update ( double  dt)
overridevirtual

Updates the representation.

Parameters
dtThe time in seconds of the preceding timestep.

Reimplemented from SurgSim::Graphics::OsgRepresentation.

Member Data Documentation

SurgSim::Math::Vector4d SurgSim::Graphics::OsgCamera::m_ambientColor
private

Value for ambient color.

std::shared_ptr<OsgUniform<SurgSim::Math::Vector4f> > SurgSim::Graphics::OsgCamera::m_ambientColorUniform
private

Uniform to carry the ambient color.

osg::ref_ptr<osg::Camera> SurgSim::Graphics::OsgCamera::m_camera
private
std::shared_ptr<OsgUniform<SurgSim::Math::Matrix44f> > SurgSim::Graphics::OsgCamera::m_inverseViewMatrixUniform
private

Uniform to carry the inverse view matrix.

osg::ref_ptr<osg::Group> SurgSim::Graphics::OsgCamera::m_materialProxy
private
SurgSim::Math::Matrix44d SurgSim::Graphics::OsgCamera::m_projectionMatrix
private

Projection matrix of the camera.

std::shared_ptr<RenderTarget> SurgSim::Graphics::OsgCamera::m_renderTarget
private
std::unordered_map<int, std::shared_ptr<Texture> > SurgSim::Graphics::OsgCamera::m_textureMap
private
std::shared_ptr<OsgUniform<SurgSim::Math::Matrix44f> > SurgSim::Graphics::OsgCamera::m_viewMatrixUniform
private

Uniform to carry the view matrix.


The documentation for this class was generated from the following files: