80 lines
2.5 KiB
C++
80 lines
2.5 KiB
C++
/*
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* Copyright (C) 2018 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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#ifndef GAZEBO_PLUGINS_SHADERPARAMVISUALPLUGIN_HH_
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#define GAZEBO_PLUGINS_SHADERPARAMVISUALPLUGIN_HH_
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#include <memory>
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#include <gazebo/common/Plugin.hh>
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#include <gazebo/msgs/msgs.hh>
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#include <gazebo/rendering/RenderTypes.hh>
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namespace gazebo
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{
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// Forward declare private data class.
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class ShaderParamVisualPluginPrivate;
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/// \brief A plugin that demonstrates how to set shader parameters
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/// of a material used by a visual
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///
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/// Plugin parameters:
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///
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/// <param> Shader parameter - can be repeated within plugin SDF element
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/// <name> Name of uniform bound to the shader
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/// <type> Type of shader, i.e. vertex, fragment
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/// <value> Value to set the shader parameter to. The value string can be
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/// an int, float, or a space delimited array of floats.
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/// It can also be 'TIME', in which case the value will be bound
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/// to sim time.
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///
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/// Example usage:
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///
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/// \verbatim
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/// <plugin name="shader_param" filename="libShaderParamVisualPlugin.so">
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///
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/// <!-- Sets a fragment shader uniform name "ambient" to color red -->
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/// <param>
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/// <name>ambient</name>
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/// <type>fragment</name>
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/// <value>1.0 0.0 0.0 1.0</value>
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/// </param>
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/// </plugin>
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/// \endverbatim
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class GAZEBO_VISIBLE ShaderParamVisualPlugin : public VisualPlugin
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{
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/// \brief Constructor.
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public: ShaderParamVisualPlugin();
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/// \brief Destructor.
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public: ~ShaderParamVisualPlugin();
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// Documentation inherited
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public: virtual void Load(rendering::VisualPtr _visual,
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sdf::ElementPtr _sdf);
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/// \brief Update the plugin once every iteration of simulation.
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private: void Update();
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/// \brief Callback to receive pose info.
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private: void OnInfo(ConstPosesStampedPtr &_msg);
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/// \internal
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/// \brief Private data pointer
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private: std::unique_ptr<ShaderParamVisualPluginPrivate> dataPtr;
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};
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}
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#endif
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