80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
|
/*
|
||
|
|
* Copyright (C) 2018 Open Source Robotics Foundation
|
||
|
|
*
|
||
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
||
|
|
* you may not use this file except in compliance with the License.
|
||
|
|
* You may obtain a copy of the License at
|
||
|
|
*
|
||
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
||
|
|
*
|
||
|
|
* Unless required by applicable law or agreed to in writing, software
|
||
|
|
* distributed under the License is distributed on an "AS IS" BASIS,
|
||
|
|
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
||
|
|
* See the License for the specific language governing permissions and
|
||
|
|
* limitations under the License.
|
||
|
|
*
|
||
|
|
*/
|
||
|
|
#ifndef GAZEBO_PLUGINS_SHADERPARAMVISUALPLUGIN_HH_
|
||
|
|
#define GAZEBO_PLUGINS_SHADERPARAMVISUALPLUGIN_HH_
|
||
|
|
|
||
|
|
#include <memory>
|
||
|
|
#include <gazebo/common/Plugin.hh>
|
||
|
|
#include <gazebo/msgs/msgs.hh>
|
||
|
|
#include <gazebo/rendering/RenderTypes.hh>
|
||
|
|
|
||
|
|
namespace gazebo
|
||
|
|
{
|
||
|
|
// Forward declare private data class.
|
||
|
|
class ShaderParamVisualPluginPrivate;
|
||
|
|
|
||
|
|
/// \brief A plugin that demonstrates how to set shader parameters
|
||
|
|
/// of a material used by a visual
|
||
|
|
///
|
||
|
|
/// Plugin parameters:
|
||
|
|
///
|
||
|
|
/// <param> Shader parameter - can be repeated within plugin SDF element
|
||
|
|
/// <name> Name of uniform bound to the shader
|
||
|
|
/// <type> Type of shader, i.e. vertex, fragment
|
||
|
|
/// <value> Value to set the shader parameter to. The value string can be
|
||
|
|
/// an int, float, or a space delimited array of floats.
|
||
|
|
/// It can also be 'TIME', in which case the value will be bound
|
||
|
|
/// to sim time.
|
||
|
|
///
|
||
|
|
/// Example usage:
|
||
|
|
///
|
||
|
|
/// \verbatim
|
||
|
|
/// <plugin name="shader_param" filename="libShaderParamVisualPlugin.so">
|
||
|
|
///
|
||
|
|
/// <!-- Sets a fragment shader uniform name "ambient" to color red -->
|
||
|
|
/// <param>
|
||
|
|
/// <name>ambient</name>
|
||
|
|
/// <type>fragment</name>
|
||
|
|
/// <value>1.0 0.0 0.0 1.0</value>
|
||
|
|
/// </param>
|
||
|
|
/// </plugin>
|
||
|
|
/// \endverbatim
|
||
|
|
class GAZEBO_VISIBLE ShaderParamVisualPlugin : public VisualPlugin
|
||
|
|
{
|
||
|
|
/// \brief Constructor.
|
||
|
|
public: ShaderParamVisualPlugin();
|
||
|
|
|
||
|
|
/// \brief Destructor.
|
||
|
|
public: ~ShaderParamVisualPlugin();
|
||
|
|
|
||
|
|
// Documentation inherited
|
||
|
|
public: virtual void Load(rendering::VisualPtr _visual,
|
||
|
|
sdf::ElementPtr _sdf);
|
||
|
|
|
||
|
|
/// \brief Update the plugin once every iteration of simulation.
|
||
|
|
private: void Update();
|
||
|
|
|
||
|
|
/// \brief Callback to receive pose info.
|
||
|
|
private: void OnInfo(ConstPosesStampedPtr &_msg);
|
||
|
|
|
||
|
|
/// \internal
|
||
|
|
/// \brief Private data pointer
|
||
|
|
private: std::unique_ptr<ShaderParamVisualPluginPrivate> dataPtr;
|
||
|
|
};
|
||
|
|
}
|
||
|
|
#endif
|