Base graphics camera class, which defines the basic interface for all graphics cameras. More...

#include <Camera.h>

Inheritance diagram for SurgSim::Graphics::Camera:

Public Types
enum	RenderOrder { RENDER_ORDER_PRE_RENDER = 0, RENDER_ORDER_IN_ORDER, RENDER_ORDER_POST_RENDER, RENDER_ORDER_COUNT }

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::Framework::FactoryBase1< Component, std::string >
typedef ObjectFactory1< Component, std::string >	FactoryType

Public Member Functions
	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...

void	setRenderGroupReferences (const std::vector< std::string > &names)
	Set the collections of group references that this camera wants to use for rendering. More...

std::vector< std::string >	getRenderGroupReferences () const
	Gets the collection of names of render groups used for rendering. More...

void	addRenderGroupReference (const std::string &name)
	Adds a single group reference to the collection of group references for rendering. More...

virtual bool	setRenderGroup (std::shared_ptr< Group > group)
	Sets the group of representations that will be seen by this camera. More...

virtual bool	setRenderGroups (const std::vector< std::shared_ptr< Group >> &groups)
	Sets the representation groups that will be seen by this camera. More...

virtual bool	addRenderGroup (std::shared_ptr< Group > group)
	Add a group of representations that will seen by this camera. More...

std::vector< std::shared_ptr< Group > >	getRenderGroups () const
	Gets all groups of representations that will be seen by this camera. More...

virtual SurgSim::Math::Matrix44d	getViewMatrix () const =0
	Gets the view matrix of the camera. More...

virtual SurgSim::Math::Matrix44d	getInverseViewMatrix () const =0
	Gets the inverse view matrix of the camera. More...

virtual void	setProjectionMatrix (const SurgSim::Math::Matrix44d &matrix)=0
	Sets the projection matrix of the camera. More...

virtual void	setViewport (int x, int y, int width, int height)=0
	Sets the viewport size for this camera. More...

virtual void	getViewport (int x, int y, int width, int height) const =0
	collect the viewport values More...

virtual void	setViewportSize (std::array< double, 2 > dimensions)=0
	Sets the width and height of the viewport. More...

virtual std::array< double, 2 >	getViewportSize () const =0
	Gets the dimensions of the viewport.

virtual void	setPerspectiveProjection (double fovy, double aspect, double near, double far)=0
	Set the projection matrix with the appropriate perspective projection parameters. More...

virtual void	setOrthogonalProjection (double left, double right, double bottom, double top, double near, double far)=0
	Set the projection matrix with the appropriate orthogonal projection parameters. More...

virtual const SurgSim::Math::Matrix44d &	getProjectionMatrix () const =0
	Gets the projection matrix of the camera. More...

virtual SurgSim::Math::Matrix44d	getInverseProjectionMatrix () const =0
	Gets the inverse projection matrix of the camera. More...

virtual bool	setRenderTarget (std::shared_ptr< RenderTarget > renderTarget)=0
	Sets RenderTarget for the current camera, enables the camera to render to off-screen textures. More...

virtual std::shared_ptr< RenderTarget >	getRenderTarget () const =0
	Gets RenderTarget that is currently being used by the camera. More...

virtual void	setRenderOrder (RenderOrder order, int value)=0
	Determine when this camera will render. More...

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...

virtual void	setAmbientColor (const SurgSim::Math::Vector4d &color)=0
	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 ()=0

virtual void	setMainCamera (bool val)=0
	Marks the camera as a main view camera, this means that view dependent passes should follow this camera with their appropriate calculations, for this purpose when isMainCamera() is true, the camera provides a uniform struct with it's transforms. More...

virtual bool	isMainCamera ()=0

Public Member Functions inherited from SurgSim::Graphics::Representation
	Representation (const std::string &name)
	Constructor. More...

virtual	~Representation ()
	Destructor.

virtual bool	setMaterial (std::shared_ptr< SurgSim::Framework::Component > material)=0
	Sets the material that defines the visual appearance of the representation. More...

virtual std::shared_ptr< Material >	getMaterial () const =0
	Gets the material that defines the visual appearance of the representation. More...

void	setMaterialReference (const std::string &materialName)

std::string	getMaterialReference () const

virtual void	clearMaterial ()=0
	Removes the material from the representation.

virtual void	setDrawAsWireFrame (bool val)=0
	Sets the representation to render as a wire frame. More...

virtual bool	getDrawAsWireFrame () const =0
	Return if the representation is rendered as a wire frame. More...

virtual void	setGenerateTangents (bool value)=0
	Enable or disable the generation of tangents. More...

virtual bool	isGeneratingTangents () const =0

virtual void	update (double dt)=0
	Updates the representation. 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::string >	getGroupReferences () const
	Gets group references. More...

bool	removeGroupReference (const std::string &group)
	Function to remove an unwanted reference. More...

void	clearGroupReferences ()
	Clear all the Group references.

virtual void	addUniform (std::shared_ptr< UniformBase > uniform)=0
	Adds a uniform to this representation. More...

virtual void	addUniform (const std::string &type, const std::string &name, const boost::any &value)=0
	Adds and a uniform to this representation and set its value. More...

virtual void	setUniforms (const std::vector< std::shared_ptr< UniformBase >> &uniforms)=0
	Sets a set of uniforms for this representation. More...

virtual std::vector< std::shared_ptr< UniformBase > >	getUniforms () const =0

bool	doWakeUp () override
	Interface to be implemented by derived classes. 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.

std::string	getName () const
	Gets component name. More...

std::string	getFullName () const
	Gets a string containing the name of the Component and (if it has one) its SceneElement. More...

void	setName (const std::string &name)
	Sets the name of component. More...

boost::uuids::uuid	getUuid () const
	Gets the id of the component.

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	retire ()
	Retire this component, this will be called when the component is removed from the ComponentManager that is responsible for handling this component. More...

void	setScene (std::weak_ptr< Scene > scene)
	Sets the scene. More...

std::shared_ptr< Scene >	getScene ()
	Gets the scene. More...

void	setSceneElement (std::weak_ptr< SceneElement > sceneElement)
	Sets the scene element. More...

std::shared_ptr< SceneElement >	getSceneElement ()
	Gets the scene element. More...

std::shared_ptr< const SceneElement >	getSceneElement () const
	Gets the scene element, constant version. More...

std::shared_ptr< Runtime >	getRuntime () 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< Component >	getSharedPtr ()
	Gets a shared pointer to this component. More...

virtual void	doRetire ()
	Interface to be implemented by derived classes Has a default implementation, does nothing.

bool	isActive () const

virtual void	setLocalActive (bool val)
	Set the component's active state. More...

bool	isLocalActive () const

Public Member Functions inherited from SurgSim::Framework::Accessible
	Accessible ()
	Default Constructor.

	~Accessible ()
	Destructor.

template<class T >
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...

void	setDecoder (const std::string &name, DecoderType decoder)
	Sets the functions used to convert data from 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...

std::vector< std::string >	getProperties ()

template<>
boost::any	getValue (const std::string &name) const

Additional Inherited Members
Static Public Member Functions inherited from SurgSim::Framework::FactoryBase1< Component, std::string >
static FactoryType &	getFactory ()

Static Public Attributes inherited from SurgSim::Graphics::Representation
static const std::string	DefaultGroupName = "__OssDefault__"

static const std::string	DefaultHudGroupName = "__OssDefaultHud__"

Protected Member Functions inherited from SurgSim::Framework::Component
virtual std::shared_ptr< PoseComponent >	getPoseComponent ()
	Get the PoseComponent for this component. More...

virtual std::shared_ptr< const PoseComponent >	getPoseComponent () const
	Get the PoseComponent for this component, constant access. More...

Detailed Description

Base graphics camera class, which defines the basic interface for all graphics cameras.

A Graphics::Camera provides the viewpoint to visualize the Graphics::Group assigned to it.

To disable a camera: setLocalActive(false). To re-enable, setLocalActive(true). A disabled (invisible) camera does not produce an image.

Graphics::Camera is used with Graphics::View to provide the visualization of the virtual scene to the user. Cameras refer to a group that contain all the elements that they render, they may also parts of other group that determine whether they are rendered. It should provide the following Uniforms:

uniform mat4 viewMatrix;

uniform mat4 inverseViewMatrix;

Constructor & Destructor Documentation

§ Camera()

SurgSim::Graphics::Camera::Camera ( const std::string & name )

explicit

Constructor.

Parameters

name	Name of the camera

Member Function Documentation

§ addGroupReference()

bool SurgSim::Graphics::Camera::addGroupReference ( const std::string & name )

overridevirtual

Add a reference to a group, this will eventual add this representation to the group with the the same name.

Parameters

name	The name of the group.

Returns: true if it succeeds, false if the group reference already exists.

Reimplemented from SurgSim::Graphics::Representation.

§ addRenderGroup()

bool SurgSim::Graphics::Camera::addRenderGroup ( std::shared_ptr< Group > group )

virtual

Add a group of representations that will seen by this camera.

Parameters

group Group of representations

§ addRenderGroupReference()

void SurgSim::Graphics::Camera::addRenderGroupReference ( const std::string & name )

Adds a single group reference to the collection of group references for rendering.

Parameters

name	Name of the group to be used for rendering

§ getAmbientColor()

virtual SurgSim::Math::Vector4d SurgSim::Graphics::Camera::getAmbientColor ( )

pure virtual

Returns: the ambient light that gets added to the scene

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getInverseProjectionMatrix()

virtual SurgSim::Math::Matrix44d SurgSim::Graphics::Camera::getInverseProjectionMatrix ( ) const

pure virtual

Gets the inverse projection matrix of the camera.

Returns: Inverse Projection matrix

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getInverseViewMatrix()

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

pure virtual

Gets the inverse view matrix of the camera.

Returns: Inverse view matrix

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getProjectionMatrix()

virtual const SurgSim::Math::Matrix44d& SurgSim::Graphics::Camera::getProjectionMatrix ( ) const

pure virtual

Gets the projection matrix of the camera.

Returns: Projection matrix

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getRenderGroupReferences()

std::vector< std::string > SurgSim::Graphics::Camera::getRenderGroupReferences ( ) const

Gets the collection of names of render groups used for rendering.

Returns: Vector of names of the groups used for rendering

§ getRenderGroups()

std::vector< std::shared_ptr< Group > > SurgSim::Graphics::Camera::getRenderGroups ( ) const

Gets all groups 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.

Returns: Vector of groups of representations

§ getRenderTarget()

virtual std::shared_ptr<RenderTarget> SurgSim::Graphics::Camera::getRenderTarget ( ) const

pure virtual

Gets RenderTarget that is currently being used by the camera.

Returns: The RenderTarget.

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getViewMatrix()

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

pure virtual

Gets the view matrix of the camera.

Returns: View matrix

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ getViewport()

virtual void SurgSim::Graphics::Camera::getViewport	(	int *	x,
		int *	y,
		int *	width,
		int *	height
	)		const

pure virtual

collect the viewport values

Parameters

x,y,width,height [out] non-nullptr parameters to write the viewport parameters

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ isMainCamera()

virtual bool SurgSim::Graphics::Camera::isMainCamera ( )

pure virtual

Returns: whether this is used as a main camera

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setAmbientColor()

virtual void SurgSim::Graphics::Camera::setAmbientColor ( const SurgSim::Math::Vector4d & color )

pure virtual

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

Parameters

color value for the light that should get added to the scene

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setMainCamera()

virtual void SurgSim::Graphics::Camera::setMainCamera ( bool val )

pure virtual

Marks the camera as a main view camera, this means that view dependent passes should follow this camera with their appropriate calculations, for this purpose when isMainCamera() is true, the camera provides a uniform struct with it's transforms.

This function will most likely be called by the view.

struct MainCamera {
    mat4 viewMatrix;
    mat4 inverseViewMatrix;
    mat4 projectionMatrix;
    mat4 mainProjectionMatrix;
};
uniform MainCamera mainCamera;

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setOrthogonalProjection()

virtual void SurgSim::Graphics::Camera::setOrthogonalProjection	(	double	left,
		double	right,
		double	bottom,
		double	top,
		double	near,
		double	far
	)

pure virtual

Set the projection matrix with the appropriate orthogonal projection parameters.

Parameters

left,right	left and right bounds of the view volume
bottom,top	bottom and top bounds of the view volume
near,far	near and far bounds of the view volume

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setPerspectiveProjection()

virtual void SurgSim::Graphics::Camera::setPerspectiveProjection	(	double	fovy,
		double	aspect,
		double	near,
		double	far
	)

pure virtual

Set the projection matrix with the appropriate perspective projection parameters.

Parameters

fovy	Field of view along the y-axis
aspect	Aspect ration between y and x axis in the viewport
near,far	near and far clipping planes

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setProjectionMatrix()

virtual void SurgSim::Graphics::Camera::setProjectionMatrix ( const SurgSim::Math::Matrix44d & matrix )

pure virtual

Sets the projection matrix of the camera.

Parameters

matrix Projection matrix

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setRenderGroup()

bool SurgSim::Graphics::Camera::setRenderGroup ( std::shared_ptr< Group > group )

virtual

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

group Group of representations

Returns: True if it succeeded, false if it failed

Reimplemented in SurgSim::Graphics::OsgCamera.

§ setRenderGroupReference()

void SurgSim::Graphics::Camera::setRenderGroupReference ( const std::string & name )

Set the group reference that this camera wants to use as the group for rendering.

Objects that, reference the same group will be rendered by this camera. The manager will do the actual creation of the group.

Parameters

name	Name of the group to be used for rendering

§ setRenderGroupReferences()

void SurgSim::Graphics::Camera::setRenderGroupReferences ( const std::vector< std::string > & names )

Set the collections of group references that this camera wants to use for rendering.

Parameters

names Vector of names of the groups used for rendering

§ setRenderGroups()

bool SurgSim::Graphics::Camera::setRenderGroups ( const std::vector< std::shared_ptr< Group >> & groups )

virtual

Sets the representation groups that will be seen by this camera.

Parameters

groups Vector of groups of representations

Returns: True if it succeeded, false if it failed

Reimplemented in SurgSim::Graphics::OsgCamera.

§ setRenderOrder()

virtual void SurgSim::Graphics::Camera::setRenderOrder	(	RenderOrder	order,
		int	value
	)

pure virtual

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

order	The phase of rendering.
value	The index within the phase, the order between two cameras of the same phase and index is not determined.

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setRenderTarget()

virtual bool SurgSim::Graphics::Camera::setRenderTarget ( std::shared_ptr< RenderTarget > renderTarget )

pure virtual

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

Parameters

renderTarget The render target.

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setViewport()

virtual void SurgSim::Graphics::Camera::setViewport	(	int	x,
		int	y,
		int	width,
		int	height
	)

pure virtual

Sets the viewport size for this camera.

Parameters

x,y	location of the viewport in screen space
width,height	size of the viewport in screen space

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

§ setViewportSize()

virtual void SurgSim::Graphics::Camera::setViewportSize ( std::array< double, 2 > dimensions )

pure virtual

Sets the width and height of the viewport.

Parameters

dimensions size of the viewport in screen space

Implemented in MockCamera, and SurgSim::Graphics::OsgCamera.

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

SurgSim/Graphics/Camera.h
SurgSim/Graphics/Camera.cpp

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ Camera()

Member Function Documentation

§ addGroupReference()

§ addRenderGroup()

§ addRenderGroupReference()

§ getAmbientColor()

§ getInverseProjectionMatrix()

§ getInverseViewMatrix()

§ getProjectionMatrix()

§ getRenderGroupReferences()

§ getRenderGroups()

§ getRenderTarget()

§ getViewMatrix()

§ getViewport()

§ isMainCamera()

§ setAmbientColor()

§ setMainCamera()

§ setOrthogonalProjection()

§ setPerspectiveProjection()

§ setProjectionMatrix()

§ setRenderGroup()

§ setRenderGroupReference()

§ setRenderGroupReferences()

§ setRenderGroups()

§ setRenderOrder()

§ setRenderTarget()

§ setViewport()

§ setViewportSize()