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 MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message) { ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE); bool need_color = false; scene_node_->setVisible(false); 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_); need_color = true; // 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 ); } context_->getSelectionManager()->removeObject(coll_); coll_ = context_->getSelectionManager()->createCollisionForEntity(entity_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id))), coll_); } if( need_color || 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 ) { float r = new_message->color.r; float g = new_message->color.g; float b = new_message->color.b; float a = new_message->color.a; // Old way was to ignore the color and alpha when using embedded // materials, which meant you could leave them unset, which means // 0. Since we now USE the color and alpha values, leaving them // all 0 will mean the object will be invisible. Therefore detect // the situation where RGBA are all 0 and treat that the same as // all 1 (full white). if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 ) { r = 1; g = 1; b = 1; a = 1; } 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; } S_MaterialPtr::iterator it; for( it = materials_.begin(); it != materials_.end(); it++ ) { Ogre::Technique* technique = (*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 ); } } Ogre::Vector3 pos, scale; Ogre::Quaternion orient; transform(new_message, pos, orient, scale); scene_node_->setVisible(true); setPosition(pos); setOrientation(orient); // In Ogre, mesh surface normals are not normalized if object is not // scaled. This forces the surface normals to be renormalized by // invisibly tweaking the scale. if( scale.x == 1.0 && scale.y == 1.0 && scale.z == 1.0 ) { scale.z = 1.0001; } scene_node_->setScale(scale); }
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); }