material.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 *     * Redistributions of source code must retain the above copyright
 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
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 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */

#include <rve_render_client/material.h>
#include <rve_render_client/client_context.h>

#include <rve_interfaces/Material.h>

#include <ros/assert.h>

#include <map>

namespace rve_render_client
{

typedef std::map<rve_common::UUID, MaterialWPtr> M_Material;
M_Material g_materials;

MaterialPtr getMaterial(const rve_common::UUID& id)
{
  M_Material::iterator it = g_materials.find(id);
  if (it == g_materials.end())
  {
    return MaterialPtr();
  }

  return it->second.lock();
}

void destroyMaterial(Material* mat)
{
  while (!mat->contexts_.empty())
  {
    ClientContext* context = mat->contexts_.begin()->first;
    context->removeObject(mat);
  }

  g_materials.erase(mat->getID());

  delete mat;
}

MaterialPtr createMaterial()
{
  MaterialPtr mat(new Material, destroyMaterial);
  g_materials.insert(std::make_pair(mat->getID(), mat));
  return mat;
}

MaterialPtr createMaterial(ClientContext* context)
{
  MaterialPtr mat = createMaterial();
  context->addObject(mat.get());
  return mat;
}

Material::Material()
: id_(rve_common::UUID::generate())
{
  material_.opacity = 1.0;
  material_.color.r = 1.0;
  material_.color.g = 1.0;
  material_.color.b = 1.0;
}

void Material::create(ClientContext* context)
{
  ContextInfo info;
  info.context = context;
  info.proxy_index = context->lookupInterface("material");
  contexts_[context] = info;

  rve_interfaces::MaterialProxy* proxy = context->getInterface<rve_interfaces::MaterialProxy>(info.proxy_index);
  proxy->createAsync(getID());
  proxy->setMaterialAsync(getID(), material_);
}

void Material::destroy(ClientContext* context)
{
  M_ContextInfo::iterator it = contexts_.find(context);
  ROS_ASSERT(it != contexts_.end());

  ContextInfo& info = it->second;
  rve_interfaces::MaterialProxy* proxy = context->getInterface<rve_interfaces::MaterialProxy>(info.proxy_index);
  proxy->destroyAsync(getID());
  contexts_.erase(it);
}

void Material::send()
{
  M_ContextInfo::iterator it = contexts_.begin();
  M_ContextInfo::iterator end = contexts_.end();
  for (; it != end; ++it)
  {
    ContextInfo& info = it->second;
    rve_interfaces::MaterialProxy* proxy = info.context->getInterface<rve_interfaces::MaterialProxy>(info.proxy_index);
    proxy->setMaterialAsync(getID(), material_);
  }
}

void Material::disableDiffuse()
{
  material_.has_color = false;
  send();
}

void Material::setDiffuse(Color c)
{
  material_.has_color = true;
  material_.color.r = c.r;
  material_.color.g = c.g;
  material_.color.b = c.b;
  material_.opacity = c.a;
  send();
}

Color Material::getDiffuse()
{
  return Color(material_.color.r, material_.color.g, material_.color.b);
}

void Material::setOpacity(float opacity)
{
  material_.opacity = opacity;
  send();
}

float Material::getOpacity()
{
  return material_.opacity;
}

void Material::setMaterial(const rve_msgs::Material& mat)
{
  material_ = mat;
  send();
}

void Material::setShadingEnabled(bool enable)
{
  material_.disable_shading = !enable;
}

bool Material::getShadingEnabled()
{
  return !material_.disable_shading;
}

} // namespace rve_render_client