WavefieldVisualPlugin.hh

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/*
 * Copyright (C) 2019  Rhys Mainwaring
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/


#ifndef _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_VISUAL_PLUGIN_HH_
#define _ASV_WAVE_SIM_GAZEBO_PLUGINS_WAVEFIELD_VISUAL_PLUGIN_HH_

#include <gazebo/common/Plugin.hh>
#include <gazebo/msgs/msgs.hh>
#include <gazebo/rendering/Camera.hh>

#include <memory>
#include <string>
#include <vector>

namespace asv
{

// WavefieldVisualPlugin

  class WavefieldVisualPluginPrivate;

  class GZ_RENDERING_VISIBLE WavefieldVisualPlugin :
    public gazebo::VisualPlugin,
    public Ogre::RenderTargetListener
  {
    public: virtual ~WavefieldVisualPlugin();

    public: WavefieldVisualPlugin();

    public: virtual void Load(
      gazebo::rendering::VisualPtr _visual,
      sdf::ElementPtr _sdf);

    public: virtual void Init();

    public: virtual void Reset();

    private: void OnPreRender();

    private: void SetupReflectionRefraction();

    private: void UpdateClipPlanes();

    private: void AddNewCamerasForReflectionRefraction();

    private: void CreateRtts(Ogre::Camera* _camera);

    private: std::vector<gazebo::rendering::CameraPtr> NewCameras();

    private: void OnStatsMsg(ConstWorldStatisticsPtr &_msg);

    private: void SetShaderParams();

    private: virtual void preRenderTargetUpdate(
                 const Ogre::RenderTargetEvent& rte);
    private: virtual void postRenderTargetUpdate(
                 const Ogre::RenderTargetEvent& rte);

    private: void OnCameraPreRender(const std::string &_camera);

    private: std::shared_ptr<WavefieldVisualPluginPrivate> data;
  };
}

#endif