41 #include <OgreSceneNode.h> 42 #include <OgreSceneManager.h> 43 #include <OgreManualObject.h> 44 #include <OgreMaterialManager.h> 45 #include <OgreTextureManager.h> 46 #include <OgreTechnique.h> 63 Ogre::MaterialManager::getSingleton().remove(
material_->getName());
69 ROS_ASSERT(new_message->type == visualization_msgs::Marker::TRIANGLE_LIST);
71 size_t num_points = new_message->points.size();
72 if( (num_points % 3) != 0 || num_points == 0 )
84 static uint32_t count = 0;
86 ss <<
"Triangle List Marker" << count++;
94 material_->getTechnique(0)->setLightingEnabled(
true);
95 material_->setCullingMode(Ogre::CULL_NONE);
100 Ogre::Vector3 pos, scale;
101 Ogre::Quaternion orient;
102 if (!
transform(new_message, pos, orient, scale))
104 ROS_DEBUG(
"Unable to transform marker message");
114 if (old_message && num_points == old_message->points.size())
125 bool has_vertex_colors = new_message->colors.size() == num_points;
126 bool has_face_colors = new_message->colors.size() == num_points / 3;
127 bool any_vertex_has_alpha =
false;
129 const std::vector<geometry_msgs::Point>& points = new_message->points;
130 for(
size_t i = 0; i < num_points; i += 3)
132 std::vector<Ogre::Vector3> corners(3);
133 for(
size_t c = 0; c < 3; c++)
135 corners[c] = Ogre::Vector3(points[i+c].
x, points[i+c].
y, points[i+c].
z);
137 Ogre::Vector3 normal = (corners[1] - corners[0]).crossProduct(corners[2] - corners[0]);
140 for(
size_t c = 0; c < 3; c++)
144 if(has_vertex_colors)
146 any_vertex_has_alpha = any_vertex_has_alpha || (new_message->colors[i+c].a < 0.9998);
148 new_message->colors[i+c].g,
149 new_message->colors[i+c].b,
150 new_message->color.a * new_message->colors[i+c].a);
152 else if (has_face_colors)
154 any_vertex_has_alpha = any_vertex_has_alpha || (new_message->colors[i/3].a < 0.9998);
156 new_message->colors[i/3].g,
157 new_message->colors[i/3].b,
158 new_message->color.a * new_message->colors[i/3].a);
165 if (has_vertex_colors || has_face_colors)
167 material_->getTechnique(0)->setLightingEnabled(
false);
171 material_->getTechnique(0)->setLightingEnabled(
true);
173 r = new_message->color.r;
174 g = new_message->color.g;
175 b = new_message->color.b;
176 a = new_message->color.a;
177 material_->getTechnique(0)->setAmbient( r/2,g/2,b/2 );
178 material_->getTechnique(0)->setDiffuse( r,g,b,a );
181 if( (!has_vertex_colors && new_message->color.a < 0.9998) || (has_vertex_colors && any_vertex_has_alpha))
183 material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
184 material_->getTechnique(0)->setDepthWriteEnabled(
false );
188 material_->getTechnique(0)->setSceneBlending( Ogre::SBT_REPLACE );
189 material_->getTechnique(0)->setDepthWriteEnabled(
true );
std::string material_name_
Ogre::MaterialPtr material_
Ogre::SceneNode * scene_node_
bool transform(const MarkerConstPtr &message, Ogre::Vector3 &pos, Ogre::Quaternion &orient, Ogre::Vector3 &scale)
virtual void setPosition(const Ogre::Vector3 &position)
TFSIMD_FORCE_INLINE const tfScalar & y() const
std::pair< std::string, int32_t > MarkerID
Ogre::ManualObject * manual_object_
virtual void onNewMessage(const MarkerConstPtr &old_message, const MarkerConstPtr &new_message)
Pure-virtual base class for objects which give Display subclasses context in which to work...
boost::shared_ptr< MarkerSelectionHandler > handler_
DisplayContext * context_
TFSIMD_FORCE_INLINE const tfScalar & x() const
TFSIMD_FORCE_INLINE const tfScalar & z() const
TriangleListMarker(MarkerDisplay *owner, DisplayContext *context, Ogre::SceneNode *parent_node)
virtual S_MaterialPtr getMaterials()
visualization_msgs::Marker::ConstPtr MarkerConstPtr
virtual Ogre::SceneManager * getSceneManager() const =0
Returns the Ogre::SceneManager used for the main RenderPanel.
std::set< Ogre::MaterialPtr > S_MaterialPtr
virtual void setOrientation(const Ogre::Quaternion &orientation)
Displays "markers" sent in by other ROS nodes on the "visualization_marker" topic.