candlewick 0.10.0-4-g76c0
A tiny cross-platform renderer based on SDL3
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Classes | Public Types | Public Member Functions | Static Public Member Functions | Public Attributes | List of all members
candlewick::multibody::RobotScene Class Referencefinal

A render system for Pinocchio robot geometries using Pinocchio. More...

#include <candlewick/multibody/RobotScene.h>

Classes

struct  Config
 
struct  GBuffer
 
struct  PipelineConfig
 
struct  PipelineKey
 
class  PipelineManager
 

Public Types

enum class  PipelineType { PIPELINE_TRIANGLEMESH , PIPELINE_HEIGHTFIELD , PIPELINE_POINTCLOUD }
 
enum  VertexUniformSlots : Uint32 { TRANSFORM , LIGHT_MATRICES }
 
enum  FragmentUniformSlots : Uint32 { MATERIAL , LIGHTING , SSAO_FLAG , ATLAS_INFO }
 
enum  FragmentSamplerSlots { SHADOW_MAP_SLOT , SSAO_SLOT }
 
template<PipelineType T>
using pipeline_tag = entt::integral_constant<T>
 
using pipeline_req_t = std::tuple<MeshLayout, PipelineKey>
 

Public Member Functions

 RobotScene (entt::registry &registry, const RenderContext &renderer)
 Non-initializing constructor.
 
 RobotScene (entt::registry &registry, const RenderContext &renderer, const pin::GeometryModel &geom_model, const pin::GeometryData &geom_data, Config config)
 Constructor which initializes the system.
 
 RobotScene (const RobotScene &)=delete
 
void setConfig (const Config &config)
 
void loadModels (const pin::GeometryModel &geom_model, const pin::GeometryData &geom_data)
 Set the internal geometry model and data pointers, and load the corresponding models.
 
void update ()
 Update the transform component of the GeometryObject entities.
 
void collectOpaqueCastables ()
 
const std::vector< OpaqueCastable > & castables () const
 
Uint32 numLights () const noexcept
 
entt::entity addEnvironmentObject (MeshData &&data, Mat4f placement, PipelineType pipe_type=PIPELINE_TRIANGLEMESH)
 
entt::entity addEnvironmentObject (MeshData &&data, const Eigen::Affine3f &T, PipelineType pipe_type=PIPELINE_TRIANGLEMESH)
 
void clearEnvironment ()
 Destroy all entities with the EnvironmentTag component.
 
void clearRobotGeometries ()
 Destroy all entities with the PinGeomObjComponent component (Pinocchio geometry objects).
 
GraphicsPipeline createRenderPipeline (const PipelineKey &key, const MeshLayout &layout, SDL_GPUTextureFormat render_target_format, SDL_GPUTextureFormat depth_stencil_format)
 
void render (CommandBuffer &command_buffer, const Camera &camera)
 
void renderOpaque (CommandBuffer &command_buffer, const Camera &camera)
 
void renderTransparent (CommandBuffer &command_buffer, const Camera &camera)
 
void release ()
 Release all resources.
 
Config & config ()
 
const Config & config () const
 
bool pbrHasPrepass () const
 
bool shadowsEnabled () const
 
void ensurePipelinesExist (const std::set< pipeline_req_t > &required_pipelines)
 Ensure the render pipelines were properly created following the provided requirements.
 
const pin::GeometryModel & geomModel () const
 Getter for the pinocchio GeometryModel object.
 
const pin::GeometryData & geomData () const
 Getter for the pinocchio GeometryData object.
 
const Device & device ()
 
entt::registry & registry ()
 
const entt::registry & registry () const
 

Static Public Member Functions

static PipelineType pinGeomToPipeline (const coal::CollisionGeometry &geom)
 Map hpp-fcl/coal collision geometry to desired pipeline type.
 
static constexpr SDL_GPUPrimitiveType getPrimitiveTopologyForType (PipelineType type)
 Map pipeline type to geometry primitive.
 

Public Attributes

std::array< DirectionalLight, kNumLights > directionalLight
 
ssao::SsaoPass ssaoPass {NoInit}
 
struct candlewick::multibody::RobotScene::GBuffer gBuffer
 
ShadowMapPass shadowPass {NoInit}
 

Detailed Description

A render system for Pinocchio robot geometries using Pinocchio.

This internally stores references to pinocchio::GeometryModel and pinocchio::GeometryData objects.

Member Typedef Documentation

◆ pipeline_req_t

using candlewick::multibody::RobotScene::pipeline_req_t = std::tuple<MeshLayout, PipelineKey>

◆ pipeline_tag

template<PipelineType T>
using candlewick::multibody::RobotScene::pipeline_tag = entt::integral_constant<T>

Member Enumeration Documentation

◆ FragmentSamplerSlots

enum candlewick::multibody::RobotScene::FragmentSamplerSlots
Enumerator
SHADOW_MAP_SLOT 
SSAO_SLOT 

◆ FragmentUniformSlots

enum candlewick::multibody::RobotScene::FragmentUniformSlots : Uint32
Enumerator
MATERIAL 
LIGHTING 
SSAO_FLAG 
ATLAS_INFO 

◆ PipelineType

enum class candlewick::multibody::RobotScene::PipelineType
strong
Enumerator
PIPELINE_TRIANGLEMESH 
PIPELINE_HEIGHTFIELD 
PIPELINE_POINTCLOUD 

◆ VertexUniformSlots

enum candlewick::multibody::RobotScene::VertexUniformSlots : Uint32
Enumerator
TRANSFORM 
LIGHT_MATRICES 

Constructor & Destructor Documentation

◆ RobotScene() [1/3]

candlewick::multibody::RobotScene::RobotScene ( entt::registry & registry,
const RenderContext & renderer )

Non-initializing constructor.

◆ RobotScene() [2/3]

candlewick::multibody::RobotScene::RobotScene ( entt::registry & registry,
const RenderContext & renderer,
const pin::GeometryModel & geom_model,
const pin::GeometryData & geom_data,
Config config )

Constructor which initializes the system.

loadModels() will be called.

◆ RobotScene() [3/3]

candlewick::multibody::RobotScene::RobotScene ( const RobotScene & )
delete

Member Function Documentation

◆ addEnvironmentObject() [1/2]

entt::entity candlewick::multibody::RobotScene::addEnvironmentObject ( MeshData && data,
const Eigen::Affine3f & T,
PipelineType pipe_type = PIPELINE_TRIANGLEMESH )
inline

◆ addEnvironmentObject() [2/2]

entt::entity candlewick::multibody::RobotScene::addEnvironmentObject ( MeshData && data,
Mat4f placement,
PipelineType pipe_type = PIPELINE_TRIANGLEMESH )

◆ castables()

const std::vector< OpaqueCastable > & candlewick::multibody::RobotScene::castables ( ) const
inline

◆ clearEnvironment()

void candlewick::multibody::RobotScene::clearEnvironment ( )

Destroy all entities with the EnvironmentTag component.

◆ clearRobotGeometries()

void candlewick::multibody::RobotScene::clearRobotGeometries ( )

Destroy all entities with the PinGeomObjComponent component (Pinocchio geometry objects).

◆ collectOpaqueCastables()

void candlewick::multibody::RobotScene::collectOpaqueCastables ( )

◆ config() [1/2]

Config & candlewick::multibody::RobotScene::config ( )
inline

◆ config() [2/2]

const Config & candlewick::multibody::RobotScene::config ( ) const
inline

◆ createRenderPipeline()

GraphicsPipeline candlewick::multibody::RobotScene::createRenderPipeline ( const PipelineKey & key,
const MeshLayout & layout,
SDL_GPUTextureFormat render_target_format,
SDL_GPUTextureFormat depth_stencil_format )

◆ device()

const Device & candlewick::multibody::RobotScene::device ( )
inline

◆ ensurePipelinesExist()

void candlewick::multibody::RobotScene::ensurePipelinesExist ( const std::set< pipeline_req_t > & required_pipelines)

Ensure the render pipelines were properly created following the provided requirements.

◆ geomData()

const pin::GeometryData & candlewick::multibody::RobotScene::geomData ( ) const
inline

Getter for the pinocchio GeometryData object.

◆ geomModel()

const pin::GeometryModel & candlewick::multibody::RobotScene::geomModel ( ) const
inline

Getter for the pinocchio GeometryModel object.

◆ getPrimitiveTopologyForType()

static constexpr SDL_GPUPrimitiveType candlewick::multibody::RobotScene::getPrimitiveTopologyForType ( PipelineType type)
inlinestaticconstexpr

Map pipeline type to geometry primitive.

◆ loadModels()

void candlewick::multibody::RobotScene::loadModels ( const pin::GeometryModel & geom_model,
const pin::GeometryData & geom_data )

Set the internal geometry model and data pointers, and load the corresponding models.

◆ numLights()

Uint32 candlewick::multibody::RobotScene::numLights ( ) const
inlinenoexcept

◆ pbrHasPrepass()

bool candlewick::multibody::RobotScene::pbrHasPrepass ( ) const
inline

◆ pinGeomToPipeline()

static PipelineType candlewick::multibody::RobotScene::pinGeomToPipeline ( const coal::CollisionGeometry & geom)
static

Map hpp-fcl/coal collision geometry to desired pipeline type.

◆ registry() [1/2]

entt::registry & candlewick::multibody::RobotScene::registry ( )
inline

◆ registry() [2/2]

const entt::registry & candlewick::multibody::RobotScene::registry ( ) const
inline

◆ release()

void candlewick::multibody::RobotScene::release ( )

Release all resources.

◆ render()

void candlewick::multibody::RobotScene::render ( CommandBuffer & command_buffer,
const Camera & camera )
Warning
Call updateTransforms() before rendering the objects with this function.

◆ renderOpaque()

void candlewick::multibody::RobotScene::renderOpaque ( CommandBuffer & command_buffer,
const Camera & camera )

◆ renderTransparent()

void candlewick::multibody::RobotScene::renderTransparent ( CommandBuffer & command_buffer,
const Camera & camera )

◆ setConfig()

void candlewick::multibody::RobotScene::setConfig ( const Config & config)
inline

◆ shadowsEnabled()

bool candlewick::multibody::RobotScene::shadowsEnabled ( ) const
inline

◆ update()

void candlewick::multibody::RobotScene::update ( )

Update the transform component of the GeometryObject entities.

Member Data Documentation

◆ directionalLight

std::array<DirectionalLight, kNumLights> candlewick::multibody::RobotScene::directionalLight

◆ gBuffer

struct candlewick::multibody::RobotScene::GBuffer candlewick::multibody::RobotScene::gBuffer

◆ shadowPass

ShadowMapPass candlewick::multibody::RobotScene::shadowPass {NoInit}

◆ ssaoPass

ssao::SsaoPass candlewick::multibody::RobotScene::ssaoPass {NoInit}
The documentation for this class was generated from the following file: