GLVisionSimulatorItem.h

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#ifndef CNOID_BODY_PLUGIN_GL_VISION_SIMULATOR_ITEM_H
#define CNOID_BODY_PLUGIN_GL_VISION_SIMULATOR_ITEM_H
 
#include "SubSimulatorItem.h"
#include "exportdecl.h"
 
namespace cnoid {
 
class GLVisionSimulatorItemImpl;
 
class CNOID_EXPORT GLVisionSimulatorItem : public SubSimulatorItem
{
public:
    static void initializeClass(ExtensionManager* ext);
        
    GLVisionSimulatorItem();
    GLVisionSimulatorItem(const GLVisionSimulatorItem& org);
    ~GLVisionSimulatorItem();
 
    enum ThreadMode { SINGLE_THREAD_MODE, SENSOR_THREAD_MODE, SCREEN_THREAD_MODE, N_THREAD_MODES };
 
    void setTargetBodies(const std::string& bodyNames);
    void setTargetSensors(const std::string& sensorNames);
    void setMaxFrameRate(double rate);
    void setMaxLatency(double latency);
    void setVisionDataRecordingEnabled(bool on);
    void setThreadMode(int mode);
    void setBestEffortMode(bool on);
    void setRangeSensorPrecisionRatio(double r);
    void setAllSceneObjectsEnabled(bool on);
    void setHeadLightEnabled(bool on);
    void setAdditionalLightsEnabled(bool on);
 
    virtual bool initializeSimulation(SimulatorItem* simulatorItem);
    virtual void finalizeSimulation();
 
    // deprecated
    void setDedicatedSensorThreadsEnabled(bool on); // setThreadMode(SENSOR_THREAD_MODE);
 
protected:
    virtual Item* doDuplicate() const;
    virtual void doPutProperties(PutPropertyFunction& putProperty);
    virtual bool store(Archive& archive);
    virtual bool restore(const Archive& archive);
 
private:
    GLVisionSimulatorItemImpl* impl;
};
 
typedef ref_ptr<GLVisionSimulatorItem> GLVisionSimulatorItemPtr;
 
}
 
#endif