vpPanda3DRendererSet.h

/*
 * ViSP, open source Visual Servoing Platform software.
 * Copyright (C) 2005 - 2024 by Inria. All rights reserved.
 *
 * This software is free software; you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation; either version 2 of the License, or
 * (at your option) any later version.
 * See the file LICENSE.txt at the root directory of this source
 * distribution for additional information about the GNU GPL.
 *
 * For using ViSP with software that can not be combined with the GNU
 * GPL, please contact Inria about acquiring a ViSP Professional
 * Edition License.
 *
 * See https://visp.inria.fr for more information.
 *
 * This software was developed at:
 * Inria Rennes - Bretagne Atlantique
 * Campus Universitaire de Beaulieu
 * 35042 Rennes Cedex
 * France
 *
 * If you have questions regarding the use of this file, please contact
 * Inria at visp@inria.fr
 *
 * This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
 * WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
 */
 
#ifndef VP_PANDA3D_RENDERER_SET_H
#define VP_PANDA3D_RENDERER_SET_H
 
#include <visp3/core/vpConfig.h>
 
#if defined(VISP_HAVE_PANDA3D)
 
#include <vector>
 
#include <visp3/ar/vpPanda3DBaseRenderer.h>
#include <visp3/ar/vpPanda3DLight.h>
 
BEGIN_VISP_NAMESPACE
class VISP_EXPORT vpPanda3DRendererSet : public vpPanda3DBaseRenderer, public vpPanda3DLightable
{
public:
  vpPanda3DRendererSet();
  vpPanda3DRendererSet(const vpPanda3DRenderParameters &renderParameters);
 
  virtual ~vpPanda3DRendererSet() = default;

  void initFramework() VP_OVERRIDE;
  void initFromParent(PointerTo<WindowFramework> window) VP_OVERRIDE;
  void initFromParent(const vpPanda3DBaseRenderer &renderer) VP_OVERRIDE;
 
 
  void clearScene() VP_OVERRIDE
  {
    for (std::shared_ptr<vpPanda3DBaseRenderer> renderer: m_subRenderers) {
      renderer->clearScene();
    }
  }

  void setCameraPose(const vpHomogeneousMatrix &wTc) VP_OVERRIDE;

  vpHomogeneousMatrix getCameraPose() VP_OVERRIDE;

  void setNodePose(const std::string &name, const vpHomogeneousMatrix &wTo) VP_OVERRIDE;

  void setNodePose(NodePath &object, const vpHomogeneousMatrix &wTo) VP_OVERRIDE;

  vpHomogeneousMatrix getNodePose(const std::string &name) VP_OVERRIDE;

  vpHomogeneousMatrix getNodePose(NodePath &object) VP_OVERRIDE;

  void addNodeToScene(const NodePath &object) VP_OVERRIDE;
 
  virtual void setRenderParameters(const vpPanda3DRenderParameters &params) VP_OVERRIDE;
 
  void addLight(const vpPanda3DLight &light) VP_OVERRIDE;

  void addSubRenderer(std::shared_ptr<vpPanda3DBaseRenderer> renderer);
 
  void enableSharedDepthBuffer(vpPanda3DBaseRenderer &sourceBuffer) VP_OVERRIDE;

  template<typename RendererType>
  std::shared_ptr<RendererType> getRenderer()
  {
    for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
      std::shared_ptr<RendererType> rendererCast = std::dynamic_pointer_cast<RendererType>(renderer);
      if (rendererCast != nullptr) {
        return rendererCast;
      }
    }
    return nullptr;
  }

  template<typename RendererType>
  std::shared_ptr<RendererType> getRenderer(const std::string &name)
  {
    for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
      if (renderer->getName() == name) {
        std::shared_ptr<RendererType> rendererCast = std::dynamic_pointer_cast<RendererType>(renderer);
        if (rendererCast != nullptr) {
          return rendererCast;
        }
      }
    }
    return nullptr;
  }
 
  virtual void beforeFrameRendered() VP_OVERRIDE
  {
    for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
      renderer->beforeFrameRendered();
    }
  }
 
  virtual void afterFrameRendered() VP_OVERRIDE
  {
    for (std::shared_ptr<vpPanda3DBaseRenderer> &renderer: m_subRenderers) {
      renderer->afterFrameRendered();
    }
  }
 
protected:
  void setupScene() VP_OVERRIDE { }
 
  void setupCamera() VP_OVERRIDE { }
 
  std::vector<std::shared_ptr<vpPanda3DBaseRenderer>> m_subRenderers;
};
END_VISP_NAMESPACE
#endif
#endif