raisin::tcp_viewer::RemoteScene

class · #include <rayrai/RaisimTcpCommon.hpp>

Client-side representation of a remote raisim scene.

Owns the state updated through TCP messages and exposes helper queries for selection, bounds, and visual lists.

Constructors & destructor

RemoteScene

explicit RemoteScene(const std::shared_ptr<raisin::RayraiWindow> &viewer)

Construct a remote scene bound to a viewer instance.

Parameters

Parameter	Description
viewer	Shared RayraiWindow used for rendering.

RemoteScene(RemoteScene &&) noexcept

Move constructor.

RemoteScene(const RemoteScene &) = delete

~RemoteScene

~RemoteScene()

Public member functions

operator=

RemoteScene &operator=(RemoteScene &&) noexcept

Move assignment.

RemoteScene &operator=(const RemoteScene &) = delete

setVerbose

void setVerbose(bool verbose)

Enable or disable verbose logging.

Parameters

Parameter	Description
verbose	True to enable verbose logs.

setSelectionTag

void setSelectionTag(uint32_t tag)

Set the object whose detailed state is reported in getSelectedInfo().

Parameters

Parameter	Description
tag	Object tag.

getSelectedInfo

const SelectedObjectInfo &getSelectedInfo() const

Get the current selection info.

Returns Selection info struct.

getServerWorldTime

double getServerWorldTime() const

Get the latest server world time.

Returns World time value.

hasServerWorldTime

bool hasServerWorldTime() const

Check if server world time is available.

Returns True if a time value has been received.

setShowCollisionBodies

void setShowCollisionBodies(bool show)

Toggle collision body rendering.

Parameters

Parameter	Description
show	True to render collision shapes.

setForceTransparent

void setForceTransparent(bool enabled)

Force all visuals to render as transparent.

Parameters

Parameter	Description
enabled	True to force transparency.

addSearchPath

void addSearchPath(const std::string &path)

Add a search path for mesh resources.

Parameters

Parameter	Description
path	Directory path.

setResourceSearchPaths

void setResourceSearchPaths(const std::vector<std::string> &paths)

Replace the resource directories configured in the viewer settings.

Parameters

Parameter	Description
paths	Directories searched when resolving mesh files.

getObjectName

std::string getObjectName(uint32_t tag) const

Get object name by tag.

Parameters

Parameter	Description
tag	Object tag.

Returns Name string or empty if not found.

getSensorsForTag

std::vector<SensorInfo> getSensorsForTag(uint32_t tag) const

Return the sensors declared by the object identified by tag.

Parameters

Parameter	Description
tag	Object tag.

Returns Sensor list (empty if the object has none).

shutdown

void shutdown()

Clear the scene and release the viewer reference.

clear

void clear()

Clear all cached remote scene data.

getVisualInfo

bool getVisualInfo(
    const raisin::Visuals *visual,
    uint32_t &tag,
    int &index,
    const VisualEntry *&entry) const

Look up a visual by pointer and return its metadata.

Parameters

Parameter	Description
visual	Visual pointer to look up.
tag	Output object tag.
index	Output body index within the object.
entry	Output entry pointer.

Returns True if found.

getVisualEntries

std::vector<VisualEntrySnapshot> getVisualEntries() const

Copy every visual entry with its tag and body index.

Returns Snapshot of all entries.

getBodyFrames

std::vector<BodyFramePose> getBodyFrames() const

One pose per body, sorted by tag/body index. Articulated/compound frames require negotiated body offsets; ground/terrain/deformables are omitted.

getSelectableObjects

std::vector<ObjectListItem> getSelectableObjects() const

Get a list of selectable objects.

Returns Vector of object list items.

selectableObjectCount

size_t selectableObjectCount() const

Count of selectable objects.

Returns Selectable object count.

visualCount

size_t visualCount() const

Count of visual objects.

Returns Visual count.

instancedCount

size_t instancedCount() const

Count of instanced visual sets.

Returns Instanced visual count.

tcpMeshBatchCount

size_t tcpMeshBatchCount() const

Count of TCP mesh batches synthesized from repeated articulated meshes.

Returns Batch count.

tcpMeshBatchMeshColorCount

size_t tcpMeshBatchMeshColorCount() const

Count of TCP mesh batches using mesh-authored colors.

Returns Batch count.

tcpMeshBatchRegroupCount

size_t tcpMeshBatchRegroupCount() const

Number of full TCP mesh-batch membership rebuilds since the last clear().

Returns Regroup count (diagnostics).

pointCloudCount

size_t pointCloudCount() const

Count of remote point clouds.

Returns Point cloud count.

unresolvedAssetCount

size_t unresolvedAssetCount() const

Count mesh entries whose referenced asset could not be resolved.

Returns Unresolved entry count.

contactCount

size_t contactCount() const

Count of parsed remote contact samples.

Returns Contact sample count.

contactCountForTag

size_t contactCountForTag(uint32_t tag) const

Count contacts in which the object with tag participates.

Parameters

Parameter	Description
tag	Object tag.

Returns Contact count (0 unless serverSupportsContactObjectTags()).

serverSupportsContactObjectTags

bool serverSupportsContactObjectTags() const

Whether contact samples contain object ownership tags.

Returns True if the server advertised kProtocolFeatureContactObjectTags.

computeSceneBounds

bool computeSceneBounds(glm::vec3 &outMin, glm::vec3 &outMax) const

Compute scene bounds from current visuals.

Parameters

Parameter	Description
outMin	Output AABB minimum.
outMax	Output AABB maximum.

Returns True if bounds were computed.

applyResponse

bool applyResponse(
    BufferReader &reader,
    std::vector<PendingSensorUpdate> &pending)

Apply a response message to the scene state.

Parameters

Parameter	Description
reader	Buffer reader positioned at the response payload.
pending	Output list of pending sensor updates.

Returns True if the response was parsed successfully.

consumeDisconnectRequested

bool consumeDisconnectRequested()

Check and consume a pending disconnect request.

Returns True if a disconnect was requested.

takeViewerCommands

std::vector<ViewerCommand> takeViewerCommands()

Move pending server-originated capture/window commands to the caller.

Returns Commands in arrival order; the internal queue is left empty.

updateContactVisuals

void updateContactVisuals(
    bool showPoints,
    float pointSize,
    bool showForces,
    float forceSize,
    bool absoluteScale=false)

Update contact point/force visuals.

Parameters

Parameter	Description
showPoints	Whether to draw contact points.
pointSize	Point size.
showForces	Whether to draw force vectors.
forceSize	Force vector scaling.
absoluteScale	If true, arrow length = magnitude * forceSize (m per N). If false (default), arrows are normalized to the strongest contact each frame.

serverSupportsSimControl

bool serverSupportsSimControl() const

Whether the server speaks the SIM_CONTROL feature bit. The viewer uses this to grey out the pause / step buttons against legacy servers.

Returns True if the server advertised kProtocolFeatureSimControl.

takeSceneFileBlock

SceneFileBlock takeSceneFileBlock()

Take the scene-file block of the last response (see SceneSync).

Returns The block; present is false when the server did not negotiate scene files.

setServerPathMap

void setServerPathMap(std::vector<std::pair<std::string, std::string>> map)

Local copies of the server's scene files, for the mesh paths the server streams.

Parameters

Parameter	Description
map	Sorted (normalizeServerPath(server path), local path) pairs, see SceneSync::pathMap().