#include <gazebo-2.0/gazebo/math/Pose.hh>
#include <boost/bind.hpp>
#include <gazebo/gazebo.hh>
#include <gazebo/physics/physics.hh>
#include <gazebo/common/common.hh>
#include <gazebo/math/Matrix4.hh>
#include <stdio.h>
#include <cmath>
#include <stdlib.h>
#include <time.h>
#include <iostream>
#include <ostream>
#include "gazebo/transport/transport.hh"
#include "gazebo/msgs/msgs.hh"
#include "gazebo/msgs/vector3d.pb.h"
#include <gazebo/rendering/rendering.hh>
#include <gazebo/gui/gui.hh>

using namespace std;
using namespace gazebo;

class SystemGUI : public SystemPlugin
{



public: void Load(int /*_argc*/, char ** /*_argv*/)
{
	cout<<"Load()!"<<endl;
	this->connections.push_back(event::Events::ConnectPreRender(boost::bind(&SystemGUI::Update, this)));

}
public:void Init()
{
	cout<<"Init()!"<<endl;
	//get_scene() 不能放在Load()
	scene = rendering::get_scene();
	text=new rendering::MovableText();
}
private: void Update()
{

	if (!this->userCam)
	{
		cout<<"enter one time"<<endl;
		this->userCam = gui::get_active_camera();
		userCam->SetAspectRatio (3);


		text->Load("_TEXT__","0N", "Arial", 200);
		text->SetShowOnTop(true);
		TextNode =world_visual->GetRootVisual()->GetSceneNode()->createChildSceneNode("_TEXT_NODE_");
		TextNode->attachObject(text);

		}




	scene->DrawLine(math::Vector3(0,0,0),math::Vector3(10,10,10),"XX");
	if (!scene || !scene->GetInitialized())
		return;

}



/// Pointer the user camera.
private: rendering::UserCameraPtr userCam;
rendering::MovableText *text;
Ogre::SceneNode *TextNode ;
rendering::VisualPtr world_visual;
rendering::ScenePtr scene;
/// All the event connections.
private: std::vector<event::ConnectionPtr> connections;
};


GZ_REGISTER_SYSTEM_PLUGIN(SystemGUI);