void MeshPersonVisual::setColor(const Ogre::ColourValue& c) {
Ogre::SceneBlendType blending;
bool depth_write;
if ( c.a < 0.9998 )
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
std::set<Ogre::MaterialPtr>::iterator it;
for( it = materials_.begin(); it != materials_.end(); it++ )
{
Ogre::Technique* technique = (*it)->getTechnique( 0 );
technique->setAmbient( c.r*0.5, c.g*0.5, c.b*0.5 );
technique->setDiffuse( c.r, c.g, c.b, c.a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
technique->setLightingEnabled( true );
}
}
void CubeWorld::createWaterTexture (const TCHAR* pName)
{
Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(pName, "General", true );
Ogre::Technique* tech = mat->getTechnique(0);
Ogre::Pass* pass = tech->getPass(0);
Ogre::TextureUnitState* tex = pass->createTextureUnitState();
tech->setLightingEnabled(false);
pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
pass->setDepthWriteEnabled(false);
tex->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, Ogre::ColourValue(0, 0, 1));
tex->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, 0.5);
}
void CubeWorld::createTexture (const TCHAR* pName, const TCHAR* pImageFilename)
{
Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(pName, "General", true );
Ogre::Technique* tech = mat->getTechnique(0);
Ogre::Pass* pass = tech->getPass(0);
Ogre::TextureUnitState* tex = pass->createTextureUnitState();
tex->setTextureName(pImageFilename);
tex->setNumMipmaps(4);
tex->setTextureAnisotropy(1);
tex->setTextureFiltering(Ogre::FO_POINT, Ogre::FO_POINT, Ogre::FO_POINT);
pass->setVertexColourTracking(Ogre::TVC_DIFFUSE);
tex->setColourOperationEx(Ogre::LBX_MODULATE, Ogre::LBS_DIFFUSE, Ogre::LBS_TEXTURE);
tech->setLightingEnabled(false);
}
void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);
// flag indicating if the mesh material color needs to be updated
bool update_color = false;
scene_node_->setVisible(false);
// Get the color information from the message
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;
Ogre::SceneBlendType blending;
bool depth_write;
if (a < 0.9998)
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}
if (!entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
{
reset();
if (new_message->mesh_resource.empty())
{
return;
}
if (loadMeshFromResource(new_message->mesh_resource).isNull())
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if (owner_)
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
ROS_DEBUG("%s", ss.str().c_str());
return;
}
static uint32_t count = 0;
std::stringstream ss;
ss << "mesh_resource_marker_" << count++;
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
materials_.insert(default_material);
if (new_message->mesh_use_embedded_materials)
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();
S_MaterialPtr::iterator it;
for (it = materials.begin(); it != materials.end(); it++)
{
if ((*it)->getName() != "BaseWhiteNoLighting")
{
Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
materials_.insert(new_material);
}
}
// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if (mat_name != "BaseWhiteNoLighting")
{
entity_->getSubEntity(i)->setMaterialName(id + mat_name);
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial(default_material);
}
}
}
else
{
entity_->setMaterial(default_material);
}
// always update color on resource change
update_color = true;
handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
}
else
{
// underlying mesh resource has not changed but if the color has
// then we need to update the materials color
if (!old_message
|| old_message->color.r != new_message->color.r
|| old_message->color.g != new_message->color.g
|| old_message->color.b != new_message->color.b
|| old_message->color.a != new_message->color.a)
{
update_color = true;
}
}
// update material color
// if the mesh_use_embedded_materials is true and color is non-zero
// then the color will be used to tint the embedded materials
if (update_color)
{
if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 )
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
r = 1; g = 1; b = 1; a = 1;
}
S_MaterialPtr::iterator material_it;
for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
{
Ogre::Technique* technique = (*material_it)->getTechnique(0);
technique->setAmbient( r*0.5, g*0.5, b*0.5 );
technique->setDiffuse( r, g, b, a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
technique->setLightingEnabled( true );
}
}
Ogre::Vector3 pos, scale;
Ogre::Quaternion orient;
transform(new_message, pos, orient, scale);
scene_node_->setVisible(true);
setPosition(pos);
setOrientation(orient);
scene_node_->setScale(scale);
}
