223 lines
7.9 KiB
C++
223 lines
7.9 KiB
C++
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/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include "gazebo/common/Color.hh"
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#include "gazebo/rendering/ogre_gazebo.h"
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#include "gazebo/common/Console.hh"
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#include "gazebo/rendering/RenderEngine.hh"
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#include "gazebo/rendering/Conversions.hh"
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#include "gazebo/rendering/Material.hh"
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using namespace gazebo;
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using namespace rendering;
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//////////////////////////////////////////////////
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void Material::CreateMaterials()
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{
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Ogre::MaterialPtr mat;
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Ogre::Technique *tech;
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Ogre::Pass *pass;
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Ogre::TextureUnitState *texState;
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_PURPLE_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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pass->setAmbient(1.0, 0.0, 1.0);
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pass->setDiffuse(1.0, 0.0, 1.0, 0.5);
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texState = pass->createTextureUnitState();
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(1, 0, 1));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_RED_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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pass->setAmbient(1.0, 0.0, 0.0);
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pass->setDiffuse(1.0, 0.0, 0.0, 0.5);
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texState = pass->createTextureUnitState();
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(1, 0, 0));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_GREEN_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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pass->setAmbient(0.0, 1.0, 0.0);
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pass->setDiffuse(0.0, 1.0, 0.0, 0.5);
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texState = pass->createTextureUnitState();
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(0, 1, 0));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_BLUE_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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pass->setAmbient(0.0, 0.0, 1.0);
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pass->setDiffuse(0.0, 0.0, 1.0, 0.5);
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texState = pass->createTextureUnitState();
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(0, 0, 1));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_TRANS_RED_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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tech->setDepthWriteEnabled(false);
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pass->setAmbient(1.0, 0.0, 0.0);
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pass->setDiffuse(1.0, 0.0, 0.0, 0.5);
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pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
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texState = pass->createTextureUnitState();
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texState->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, 0.5);
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(1, 0, 0));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_TRANS_GREEN_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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tech->setDepthWriteEnabled(false);
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pass->setAmbient(0.0, 1.0, 0.0);
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pass->setDiffuse(0.0, 1.0, 0.0, 0.5);
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pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
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texState = pass->createTextureUnitState();
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texState->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, 0.5);
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(0, 1, 0));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_TRANS_BLUE_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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tech->setDepthWriteEnabled(false);
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pass->setAmbient(0.0, 0.0, 1.0);
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pass->setDiffuse(0.0, 0.0, 1.0, 0.5);
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pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
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texState = pass->createTextureUnitState();
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texState->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, 0.5);
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(0, 0, 1));
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mat = Ogre::MaterialManager::getSingleton().create(
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"__GAZEBO_TRANS_PURPLE_MATERIAL__", "General");
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tech = mat->getTechnique(0);
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pass = tech->getPass(0);
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tech->setLightingEnabled(false);
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tech->setDepthWriteEnabled(false);
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pass->setAmbient(1.0, 0.0, 1.0);
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pass->setDiffuse(1.0, 0.0, 1.0, 0.5);
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pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
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texState = pass->createTextureUnitState();
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texState->setAlphaOperation(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, 0.5);
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texState->setColourOperationEx(Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL,
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Ogre::LBS_CURRENT, Ogre::ColourValue(1, 0, 1));
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}
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//////////////////////////////////////////////////
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void Material::Update(const gazebo::common::Material *_mat)
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{
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Ogre::MaterialPtr matPtr;
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if (Ogre::MaterialManager::getSingleton().resourceExists(_mat->GetName()))
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matPtr = Ogre::MaterialManager::getSingleton().getByName(
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_mat->GetName(), "General");
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else
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matPtr = Ogre::MaterialManager::getSingleton().create(
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_mat->GetName(), "General");
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Ogre::Pass *pass = matPtr->getTechnique(0)->getPass(0);
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common::Color ambient = _mat->GetAmbient();
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common::Color diffuse = _mat->GetDiffuse();
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common::Color specular = _mat->GetSpecular();
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common::Color emissive = _mat->GetEmissive();
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pass->setLightingEnabled(_mat->GetLighting());
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pass->setDiffuse(diffuse.r, diffuse.g, diffuse.b, diffuse.a);
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pass->setAmbient(ambient.r, ambient.g, ambient.b);
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if (diffuse.a < 1.0)
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{
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pass->setDepthWriteEnabled(false);
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pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
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}
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pass->setSpecular(specular.r, specular.g, specular.b, specular.a);
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pass->setSelfIllumination(emissive.r, emissive.g, emissive.b);
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pass->setShininess(_mat->GetShininess());
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// Only add the texture unit if it's not present in the material
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if (!_mat->GetTextureImage().empty() &&
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pass->getTextureUnitState(_mat->GetTextureImage()) == NULL)
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{
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// Make sure to add the path to the texture image.
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RenderEngine::Instance()->AddResourcePath(_mat->GetTextureImage());
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Ogre::TextureUnitState *texState = pass->createTextureUnitState(
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_mat->GetTextureImage());
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texState->setTextureName(_mat->GetTextureImage());
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texState->setName(_mat->GetTextureImage());
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}
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}
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//////////////////////////////////////////////////
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bool Material::GetMaterialAsColor(const std::string &_materialName,
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common::Color &_ambient, common::Color &_diffuse,
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common::Color &_specular, common::Color &_emissive)
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{
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Ogre::MaterialPtr matPtr;
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if (Ogre::MaterialManager::getSingleton().resourceExists(_materialName))
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{
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matPtr = Ogre::MaterialManager::getSingleton().getByName(_materialName,
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"General");
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if (matPtr.isNull())
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return false;
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Ogre::Technique *technique = matPtr->getTechnique(0);
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if (technique)
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{
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Ogre::Pass *pass = technique->getPass(0);
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if (pass)
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{
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_ambient = Conversions::Convert(pass->getAmbient());
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_diffuse = Conversions::Convert(pass->getDiffuse());
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_specular = Conversions::Convert(pass->getSpecular());
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_emissive = Conversions::Convert(pass->getSelfIllumination());
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return true;
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}
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}
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}
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return false;
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}
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