void InteractiveMarkerControl::addHighlightPass( S_MaterialPtr materials )
{
  S_MaterialPtr::iterator it;

  for (it = materials.begin(); it != materials.end(); it++)
  {
    Ogre::MaterialPtr material = *it;
    Ogre::Pass *original_pass = material->getTechnique(0)->getPass(0);
    Ogre::Pass *pass = material->getTechnique(0)->createPass();

    pass->setSceneBlending(Ogre::SBT_ADD);
    pass->setDepthWriteEnabled(true);
    pass->setDepthCheckEnabled(true);
    pass->setLightingEnabled(true);
    pass->setAmbient(0, 0, 0);
    pass->setDiffuse(0, 0, 0, 0);
    pass->setSpecular(0, 0, 0, 0);
    pass->setCullingMode(original_pass->getCullingMode());

    highlight_passes_.insert(pass);
  }
}
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);
}
示例#3
0
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);

  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);
    }

    // add a pass to every material to perform the color tinting
    S_MaterialPtr::iterator material_it;
    for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
    {
      Ogre::Technique* technique = (*material_it)->getTechnique(0);
      color_tint_passes_.push_back(technique->createPass());
    }

    // 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)
  {
    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;
    }

    for (std::vector<Ogre::Pass*>::iterator it = color_tint_passes_.begin();
         it != color_tint_passes_.end();
         ++it)
    {
      (*it)->setAmbient(0.5 * r, 0.5 * g, 0.5 * b);
      (*it)->setDiffuse(r, g, b, a);
      (*it)->setSceneBlending(blending);
      (*it)->setDepthWriteEnabled(depth_write);
      (*it)->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);
}