RenderInstanceHelper class
#include <esp/sim/RenderInstanceHelper.h>
A helper for adding and posing render asset instances in the Habitat-sim visual scene. They will appear when rendering, e.g. Simulator::drawObservation. A render asset is generally a 3D model file.
The interface here is intentionally minimal to ensure (1) effciency, and (2) that we can easily port the backend to other renderers.
Constructors, destructors, conversion operators
- RenderInstanceHelper(Simulator& sim, bool useXYZWOrientations = true)
- RenderInstanceHelper constructor.
Public functions
-
auto AddInstance(const std::
string& assetFilepath, int semanticId, const Magnum:: Vector3& scale = Magnum:: Vector3(1.0, 1.0, 1.0)) -> int - Add an instance of a render asset to the scene. The instance gets an identity pose; change it later using set_world_poses.
- void ClearAllInstances()
- Remove all instances from the scene.
- auto GetNumInstances() -> int
- Get the number of instances you've added.
- void SetWorldPoses(float* positions, int positionsSize, float* orientations, int orientationsSize)
- Set the world poses of all your instances. See the index returned by AddInstance.
Function documentation
esp::
RenderInstanceHelper constructor.
| Parameters | |
|---|---|
| sim | the Habitat-sim instance where you'll render, e.g. Simulator::drawObservation |
| useXYZWOrientations | specify the format of the quaternions you'll pass to set_world_poses later; If use_xyzw_orientations=False, we assume wxyz |
int esp::
Add an instance of a render asset to the scene. The instance gets an identity pose; change it later using set_world_poses.
| Parameters | |
|---|---|
| assetFilepath | can be for example a .glb or .obj 3D model file |
| semanticId | used for semantic rendering |
| scale | |
void esp::
Set the world poses of all your instances. See the index returned by AddInstance.
| Parameters | |
|---|---|
| positions | pointer to position floats |
| positionsSize | number of position floats; must be GetNumInstances() * 3 |
| orientations | pointer to rotation quaternion floats, as xyzw or wxyz; See also use_xyzw_orientations in the RenderAssetInstance constructor. |
| orientationsSize | number of orientation floats; must be GetNumInstances() * 4 |
The raw-pointer interface here is to enable efficient interop with numpy, see SimBindings.cpp.