line.cpp
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29 
30 #include "line.h"
31 
32 #include <sstream>
33 
34 #include <OgreSceneNode.h>
35 #include <OgreSceneManager.h>
36 #include <OgreManualObject.h>
37 #include <OgreMaterialManager.h>
38 #include <OgreTechnique.h>
39 
40 namespace rviz
41 {
42 Line::Line(Ogre::SceneManager* manager, Ogre::SceneNode* parent_node) : Object(manager)
43 {
44  if (!parent_node)
45  {
46  parent_node = manager->getRootSceneNode();
47  }
48  manual_object_ = manager->createManualObject();
49  scene_node_ = parent_node->createChildSceneNode();
50 
51  static int count = 0;
52  std::stringstream ss;
53  ss << "LineMaterial" << count++;
54 
55  // NOTE: The second parameter to the create method is the resource group the material will be added to.
56  // If the group you name does not exist (in your resources.cfg file) the library will assert() and your
57  // program will crash
58  manual_object_material_ = Ogre::MaterialManager::getSingleton().create(
59  ss.str(), Ogre::ResourceGroupManager::DEFAULT_RESOURCE_GROUP_NAME);
60  manual_object_material_->setReceiveShadows(false);
61  manual_object_material_->getTechnique(0)->setLightingEnabled(true);
62  manual_object_material_->getTechnique(0)->getPass(0)->setDiffuse(0, 0, 0, 0);
63  manual_object_material_->getTechnique(0)->getPass(0)->setAmbient(1, 1, 1);
64 
65  scene_node_->attachObject(manual_object_);
66 }
67 
69 {
70  if (scene_node_->getParentSceneNode())
71  {
72  scene_node_->getParentSceneNode()->removeChild(scene_node_);
73  }
74  scene_manager_->destroySceneNode(scene_node_);
75  scene_manager_->destroyManualObject(manual_object_);
76  Ogre::MaterialManager::getSingleton().remove(manual_object_material_->getName());
77 }
78 
79 void Line::setPoints(Ogre::Vector3 start, Ogre::Vector3 end)
80 {
81  manual_object_->clear();
82  manual_object_->begin(manual_object_material_->getName(), Ogre::RenderOperation::OT_LINE_LIST);
83  manual_object_->position(start);
84  manual_object_->position(end);
85  manual_object_->end();
86  setVisible(true);
87 }
88 
89 void Line::setVisible(bool visible)
90 {
91  scene_node_->setVisible(visible, true);
92 }
93 
94 
95 void Line::setPosition(const Ogre::Vector3& position)
96 {
97  scene_node_->setPosition(position);
98 }
99 
100 void Line::setOrientation(const Ogre::Quaternion& orientation)
101 {
102  scene_node_->setOrientation(orientation);
103 }
104 
105 void Line::setScale(const Ogre::Vector3& scale)
106 {
107  scene_node_->setScale(scale);
108 }
109 
110 void Line::setColor(const Ogre::ColourValue& c)
111 {
112  // this is consistent with the behaviour in the Shape class.
113 
114  manual_object_material_->getTechnique(0)->setAmbient(c * 0.5);
115  manual_object_material_->getTechnique(0)->setDiffuse(c);
116 
117  if (c.a < 0.9998)
118  {
119  manual_object_material_->getTechnique(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
120  manual_object_material_->getTechnique(0)->setDepthWriteEnabled(false);
121  }
122  else
123  {
124  manual_object_material_->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE);
125  manual_object_material_->getTechnique(0)->setDepthWriteEnabled(true);
126  }
127 }
128 
129 void Line::setColor(float r, float g, float b, float a)
130 {
131  setColor(Ogre::ColourValue(r, g, b, a));
132 }
133 
134 // where are the void Line::setColour(...) convenience methods??? ;)
135 
136 const Ogre::Vector3& Line::getPosition()
137 {
138  return scene_node_->getPosition();
139 }
140 
141 const Ogre::Quaternion& Line::getOrientation()
142 {
143  return scene_node_->getOrientation();
144 }
145 
146 void Line::setUserData(const Ogre::Any& data)
147 {
148  manual_object_->getUserObjectBindings().setUserAny(data);
149 }
150 
151 
152 } // namespace rviz
rviz::Line::setPoints
void setPoints(Ogre::Vector3 start, Ogre::Vector3 end)
Set the start and end point of the line.
Definition: line.cpp:79
rviz::Line::~Line
~Line() override
Definition: line.cpp:68
rviz::Object::scene_manager_
Ogre::SceneManager * scene_manager_
Ogre scene manager this object is part of.
Definition: object.h:103
line.h
rviz::Line::setUserData
void setUserData(const Ogre::Any &data) override
Set the user data on this object.
Definition: line.cpp:146
rviz::Line::Line
Line(Ogre::SceneManager *manager, Ogre::SceneNode *parent_node=nullptr)
Constructor.
Definition: line.cpp:42
rviz::Line::setVisible
void setVisible(bool visible)
Definition: line.cpp:89
rviz::Line::setOrientation
void setOrientation(const Ogre::Quaternion &orientation) override
Set the orientation of the object.
Definition: line.cpp:100
rviz::Line::setPosition
void setPosition(const Ogre::Vector3 &position) override
Set the position of this object.
Definition: line.cpp:95
rviz
Definition: add_display_dialog.cpp:54
rviz::Line::setColor
void setColor(float r, float g, float b, float a) override
Set the color of the object. Values are in the range [0, 1].
Definition: line.cpp:129
rviz::Line::getOrientation
const Ogre::Quaternion & getOrientation() override
Get the local orientation of this object.
Definition: line.cpp:141
rviz::Line::manual_object_
Ogre::ManualObject * manual_object_
Definition: line.h:121
rviz::Line::manual_object_material_
Ogre::MaterialPtr manual_object_material_
Definition: line.h:122
rviz::Line::getPosition
const Ogre::Vector3 & getPosition() override
Get the local position of this object.
Definition: line.cpp:136
start
ROSCPP_DECL void start()
rviz::Line::setScale
void setScale(const Ogre::Vector3 &scale) override
Set the scale of the object. Always relative to the identity orientation of the object.
Definition: line.cpp:105
rviz::Object
Base class for visible objects, providing a minimal generic interface.
Definition: object.h:47
rviz::Line::scene_node_
Ogre::SceneNode * scene_node_
Definition: line.h:120


rviz
Author(s): Dave Hershberger, David Gossow, Josh Faust, William Woodall
autogenerated on Fri Aug 2 2024 08:43:09