137 lines
3.9 KiB
C++
137 lines
3.9 KiB
C++
/*
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* Copyright (C) 2015 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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#ifdef _WIN32
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// Ensure that Winsock2.h is included before Windows.h, which can get
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// pulled in by anybody (e.g., Boost).
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#include <Winsock2.h>
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#endif
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#include "gazebo/physics/World.hh"
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#include "gazebo/physics/LightState.hh"
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#include "gazebo/physics/Light.hh"
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using namespace gazebo;
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using namespace physics;
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//////////////////////////////////////////////////
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Light::Light(BasePtr _parent)
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: Entity(_parent)
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{
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this->AddType(LIGHT);
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}
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//////////////////////////////////////////////////
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void Light::Init()
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{
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// Record the light's initial pose (for resetting)
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ignition::math::Pose3d initPose =
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this->sdf->Get<ignition::math::Pose3d>("pose");
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this->SetInitialRelativePose(initPose);
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this->SetRelativePose(initPose);
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}
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//////////////////////////////////////////////////
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void Light::ProcessMsg(const msgs::Light &_msg)
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{
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// Get leaf name
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std::string lightName = _msg.name();
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size_t idx = lightName.rfind("::");
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if (idx != std::string::npos)
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lightName = lightName.substr(idx+2);
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this->SetName(lightName);
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if (_msg.has_pose())
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{
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this->worldPose = msgs::ConvertIgn(_msg.pose());
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}
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this->msg.MergeFrom(_msg);
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}
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//////////////////////////////////////////////////
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void Light::FillMsg(msgs::Light &_msg)
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{
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_msg.MergeFrom(this->msg);
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_msg.set_name(this->GetScopedName());
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// TODO change to RelativePose once lights can be attached to links
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// in link.proto and on the rendering side
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// ignition::math::Pose3d pose = this->GetRelativePose().Ign();
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ignition::math::Pose3d pose = this->GetWorldPose().Ign();
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msgs::Set(_msg.mutable_pose(), pose);
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}
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//////////////////////////////////////////////////
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void Light::SetState(const LightState &_state)
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{
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if (this->worldPose == math::Pose(_state.Pose()))
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return;
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this->worldPose = math::Pose(_state.Pose());
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this->PublishPose();
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}
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//////////////////////////////////////////////////
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void Light::PublishPose()
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{
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this->world->PublishLightPose(boost::dynamic_pointer_cast<Light>(
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shared_from_this()));
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}
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//////////////////////////////////////////////////
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void Light::OnPoseChange()
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{
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}
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/////////////////////////////////////////////////
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const math::Pose &Light::GetWorldPose() const
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{
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// TODO add and use worldPoseDirty member variable
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// If true, compute a new world pose value.
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// if (this->worldPoseDirty)
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EntityPtr parentEnt = boost::dynamic_pointer_cast<Entity>(this->parent);
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if (!this->worldPose.IsFinite() && parentEnt)
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{
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this->worldPose = this->GetInitialRelativePose() +
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parentEnt->GetWorldPose();
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// this->worldPoseDirty = false;
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}
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return this->worldPose;
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}
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/////////////////////////////////////////////////
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void Light::SetWorldPoseDirty()
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{
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// Tell the light object that the next call to ::GetWorldPose should
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// compute a new worldPose value.
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// TODO add and use worldPoseDirty member variable
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// instead of making the pose infinite. It was done to avoid breaking ABI
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// this->worldPoseDirty = true;
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double v = std::numeric_limits<double>::infinity();
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this->worldPose.pos.Set(v, v, v);
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/// TODO The following line is added as a workaround to update light pose on
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/// the rendering side without breaking the API/ABI. Later we should update
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/// link.proto and add a repeated light field (breaks ABI) and in rendering we
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/// just attach the light scene node to the parent link node.
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this->PublishPose();
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}
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