OSG implementation of a graphics camera. More...

#include <OsgCamera.h>

Inheritance diagram for SurgSim::Graphics::OsgCamera:

Public Member Functions
	OsgCamera (const std::string &name)
	Constructor. More...

	SURGSIM_CLASSNAME (SurgSim::Graphics::OsgCamera)

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

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

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

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

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

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

void	update (double dt) override
	Updates the representation. More...

osg::ref_ptr< osg::Camera >	getOsgCamera () const

osg::ref_ptr< osg::Node >	getOsgNode () const

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

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

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

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

void	clearMaterial () override
	Removes the material from the representation.

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

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...

SurgSim::Math::Vector4d	getAmbientColor () override

void	setGenerateTangents (bool value) override
	Enable or disable the generation of tangents. More...

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

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

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

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

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

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

void	setMainCamera (bool val) override
	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...

bool	isMainCamera () override

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

virtual	~OsgRepresentation ()
	Destructor.

osg::ref_ptr< osg::Node >	getOsgNode () const
	Returns the root OSG Node for this representations portion of the scene graph.

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

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

void	clearMaterial () override
	Removes the material from the representation.

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

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

void	setGenerateTangents (bool value) override
	Enable the generation of tangents When enabled it is up to the subclasses responsibility to react to changes and trigger the regeneration of Tangents. More...

bool	isGeneratingTangents () const override

void	update (double dt) override
	Updates the representation. More...

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

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

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

std::vector< std::shared_ptr< UniformBase > >	getUniforms () const override

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

virtual	~Representation ()
	Destructor.

void	setMaterialReference (const std::string &materialName)

std::string	getMaterialReference () const

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.

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...

bool	isActive () const

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

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...

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	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...

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...

Additional Inherited Members
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 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::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::Graphics::OsgRepresentation
void	doRetire () override
	Interface to be implemented by derived classes Has a default implementation, does nothing.

virtual void	doUpdate (double dt)

void	setVisible (bool val)
	Set the visibility of this representation. More...

void	updateTangents ()
	Causes the tangents to be recalculated if tangent generation is enabled Subclasses should call this whenever the state changes in a way that need tangents to be recalculated.

void	setOsgUniforms (const std::vector< std::shared_ptr< Graphics::OsgUniformBase >> &uniforms)
	Typed setter for uniforms. More...

std::vector< std::shared_ptr< Graphics::OsgUniformBase > >	getOsgUniforms () const

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...

Protected Attributes inherited from SurgSim::Graphics::OsgRepresentation
osg::ref_ptr< osg::Switch >	m_switch
	Switch used to toggle the visibility of the representation.

osg::ref_ptr< osg::PositionAttitudeTransform >	m_transform
	Transform used to pose the representation.

osg::ref_ptr< osg::Group >	m_materialProxy
	Holder for attributes coming from OsgMaterial.

std::shared_ptr< OsgMaterial >	m_material
	Material defining the visual appearance of the representation.

osg::ref_ptr< TangentSpaceGenerator >	m_tangentGenerator
	Visitor to generate tangents.

bool	m_drawAsWireFrame
	Indicates if the representation is rendered as a wireframe.

std::shared_ptr< OsgUniform< SurgSim::Math::Matrix44f > >	m_modelMatrixUniform

std::vector< std::shared_ptr< OsgUniformBase > >	m_uniforms

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

§ OsgCamera()

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

explicit

Constructor.

Parameters

name	Name 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

§ getAmbientColor()

SurgSim::Math::Vector4d SurgSim::Graphics::OsgCamera::getAmbientColor ( )

overridevirtual

Returns: the ambient light that gets added to the scene

Implements SurgSim::Graphics::Camera.

§ getInverseProjectionMatrix()

SurgSim::Math::Matrix44d SurgSim::Graphics::OsgCamera::getInverseProjectionMatrix ( ) const

overridevirtual

Gets the inverse projection matrix of the camera.

Returns: Inverse Projection matrix

Implements SurgSim::Graphics::Camera.

§ getInverseViewMatrix()

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.

§ getMaterial()

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

overridevirtual

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

Returns: Graphics material

Implements SurgSim::Graphics::Representation.

§ getOsgCamera()

osg::ref_ptr< osg::Camera > SurgSim::Graphics::OsgCamera::getOsgCamera ( ) const

Returns: the OSG camera node

§ getOsgNode()

osg::ref_ptr< osg::Node > SurgSim::Graphics::OsgCamera::getOsgNode ( ) const

Returns: the OSG parent node for this object

§ getProjectionMatrix()

const SurgSim::Math::Matrix44d & SurgSim::Graphics::OsgCamera::getProjectionMatrix ( ) const

overridevirtual

Gets the projection matrix of the camera.

Returns: Projection matrix

Implements SurgSim::Graphics::Camera.

§ getRenderTarget()

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.

§ getViewMatrix()

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

virtual

Gets the view matrix of the camera.

Returns: View matrix

Implements SurgSim::Graphics::Camera.

§ getViewport()

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

overridevirtual

collect the viewport values

Parameters

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

Implements SurgSim::Graphics::Camera.

§ isMainCamera()

bool SurgSim::Graphics::OsgCamera::isMainCamera ( )

overridevirtual

Returns: whether this is used as a main camera

Implements SurgSim::Graphics::Camera.

§ setAmbientColor()

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

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

Implements SurgSim::Graphics::Camera.

§ setGenerateTangents()

void SurgSim::Graphics::OsgCamera::setGenerateTangents ( bool value )

overridevirtual

Enable or disable the generation of tangents.

Parameters

value true enables tangent generation, false otherwise

Implements SurgSim::Graphics::Representation.

§ setLocalActive()

void SurgSim::Graphics::OsgCamera::setLocalActive ( bool val )

overridevirtual

Set the component's active state.

Parameters

val	If true component is active, inactive if false.

Reimplemented from SurgSim::Framework::Component.

§ setMainCamera()

void SurgSim::Graphics::OsgCamera::setMainCamera ( bool val )

overridevirtual

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;

Implements SurgSim::Graphics::Camera.

§ setMaterial()

bool SurgSim::Graphics::OsgCamera::setMaterial ( std::shared_ptr< SurgSim::Framework::Component > material )

overridevirtual

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

Parameters

material Graphics material

Returns: True if set successfully, otherwise false

Implements SurgSim::Graphics::Representation.

§ setOrthogonalProjection()

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

overridevirtual

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

Implements SurgSim::Graphics::Camera.

§ setPerspectiveProjection()

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

overridevirtual

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

Implements SurgSim::Graphics::Camera.

§ setProjectionMatrix()

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

overridevirtual

Sets the projection matrix of the camera.

Parameters

matrix Projection matrix

Implements SurgSim::Graphics::Camera.

§ setRenderGroup()

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

group Group of representations

Returns: True if it succeeded, false if it failed

Reimplemented from SurgSim::Graphics::Camera.

§ setRenderGroups()

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

overridevirtual

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 from SurgSim::Graphics::Camera.

§ setRenderOrder()

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

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.

Implements SurgSim::Graphics::Camera.

§ setRenderTarget()

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

renderTarget The render target.

Implements SurgSim::Graphics::Camera.

§ setViewport()

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

overridevirtual

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

Implements SurgSim::Graphics::Camera.

§ setViewportSize()

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

overridevirtual

Sets the width and height of the viewport.

Parameters

dimensions size of the viewport in screen space

Implements SurgSim::Graphics::Camera.

§ update()

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

overridevirtual

Updates the representation.

Parameters

dt	The time in seconds of the preceding timestep.

Implements SurgSim::Graphics::Representation.

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

SurgSim/Graphics/OsgCamera.h
SurgSim/Graphics/OsgCamera.cpp

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

§ OsgCamera()

Member Function Documentation

§ getAmbientColor()

§ getInverseProjectionMatrix()

§ getInverseViewMatrix()

§ getMaterial()

§ getOsgCamera()

§ getOsgNode()

§ getProjectionMatrix()

§ getRenderTarget()

§ getViewMatrix()

§ getViewport()

§ isMainCamera()

§ setAmbientColor()

§ setGenerateTangents()

§ setLocalActive()

§ setMainCamera()

§ setMaterial()

§ setOrthogonalProjection()

§ setPerspectiveProjection()

§ setProjectionMatrix()

§ setRenderGroup()

§ setRenderGroups()

§ setRenderOrder()

§ setRenderTarget()

§ setViewport()

§ setViewportSize()

§ update()