void RenderSystem::setupResources()
{
std::string rviz_path = ros::package::getPath(ROS_PACKAGE_NAME);
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/textures", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/fonts", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/models", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/scripts", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/glsl120", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/glsl120/nogp", "FileSystem", ROS_PACKAGE_NAME );
// Add resources that depend on a specific glsl version.
// Unfortunately, Ogre doesn't have a notion of glsl versions so we can't go
// the 'official' way of defining multiple schemes per material and let Ogre decide which one to use.
if ( getGlslVersion() >= 150 )
{
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/glsl150", "FileSystem", ROS_PACKAGE_NAME );
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/scripts150", "FileSystem", ROS_PACKAGE_NAME );
}
else if ( getGlslVersion() >= 120 )
{
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( rviz_path + "/ogre_media/materials/scripts120", "FileSystem", ROS_PACKAGE_NAME );
}
else
{
std::string s = "Your graphics driver does not support OpenGL 2.1. Please enable software rendering before running RViz (e.g. type 'export LIBGL_ALWAYS_SOFTWARE=1').";
QMessageBox msgBox;
msgBox.setText(s.c_str());
msgBox.exec();
throw std::runtime_error( s );
}
// Add paths exported to the "media_export" package.
std::vector<std::string> media_paths;
ros::package::getPlugins( "media_export", "ogre_media_path", media_paths );
std::string delim(":");
for( std::vector<std::string>::iterator iter = media_paths.begin(); iter != media_paths.end(); iter++ )
{
if( !iter->empty() )
{
std::string path;
int pos1 = 0;
int pos2 = iter->find(delim);
while( pos2 != (int)std::string::npos )
{
path = iter->substr( pos1, pos2 - pos1 );
ROS_DEBUG("adding resource location: '%s'\n", path.c_str());
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( path, "FileSystem", ROS_PACKAGE_NAME );
pos1 = pos2 + 1;
pos2 = iter->find( delim, pos2 + 1 );
}
path = iter->substr( pos1, iter->size() - pos1 );
ROS_DEBUG("adding resource location: '%s'\n", path.c_str());
Ogre::ResourceGroupManager::getSingleton().addResourceLocation( path, "FileSystem", ROS_PACKAGE_NAME );
}
}
}
bool glInit()
{
if (gl3wInit())
{
printf("Problem initializing OpenGL\n");
return false;
}
int maj, min, slmaj, slmin;
getGlVersion(&maj, &min);
getGlslVersion(&slmaj, &slmin);
printf("OpenGL version: %d.%d\n", maj, min);
printf("GLSL version: %d.%d\n", slmaj, slmin);
return true;
}
