71 lines
2.0 KiB
C++
71 lines
2.0 KiB
C++
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/*
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* Copyright (C) 2017 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/rendering/RenderingIface.hh>
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#include <gazebo/rendering/Scene.hh>
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#include <gazebo/rendering/Visual.hh>
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#include "HeightmapLODPlugin.hh"
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namespace gazebo
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{
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/// \internal
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/// \class HeightmapLODPlugin HeightmapLODPlugin.hh
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/// \brief Private data for the HeightmapLODPlugin class.
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class HeightmapLODPluginPrivate
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{
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/// \brief Parent visual
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public: rendering::VisualPtr viusal;
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/// \brief Default LOD value to set to.
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public: unsigned int lod = 3u;
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/// \brief Default skirt length
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public: double skirtLength = 1.0;
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};
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}
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using namespace gazebo;
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GZ_REGISTER_VISUAL_PLUGIN(HeightmapLODPlugin)
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/////////////////////////////////////////////////
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HeightmapLODPlugin::HeightmapLODPlugin()
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: dataPtr(new HeightmapLODPluginPrivate)
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{
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}
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/////////////////////////////////////////////////
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void HeightmapLODPlugin::Load(rendering::VisualPtr _visual,
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sdf::ElementPtr _sdf)
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{
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if (!_visual || !_sdf)
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{
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gzerr << "No visual or SDF element specified. Plugin won't load." <<
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std::endl;
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return;
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}
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if (_sdf->HasElement("lod"))
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this->dataPtr->lod = _sdf->Get<unsigned int>("lod");
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if (_sdf->HasElement("skirt_length"))
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this->dataPtr->skirtLength = _sdf->Get<double>("skirt_length");
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_visual->GetScene()->SetHeightmapLOD(this->dataPtr->lod);
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_visual->GetScene()->SetHeightmapSkirtLength(this->dataPtr->skirtLength);
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}
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