41 #include <OgreSceneNode.h> 42 #include <OgreSceneManager.h> 43 #include <OgreManualObject.h> 44 #include <OgreMaterialManager.h> 45 #include <OgreTextureManager.h> 46 #include <OgreTechnique.h> 52 Ogre::SceneNode* parent_node)
53 :
MarkerBase(owner, context, parent_node), manual_object_(nullptr)
63 Ogre::MaterialManager::getSingleton().remove(
material_->getName());
70 ROS_ASSERT(new_message->type == visualization_msgs::Marker::TRIANGLE_LIST);
72 size_t num_points = new_message->points.size();
73 if ((num_points % 3) != 0 || num_points == 0)
85 static uint32_t count = 0;
87 ss <<
"Triangle List Marker" << count++;
95 material_->getTechnique(0)->setLightingEnabled(
true);
96 material_->setCullingMode(Ogre::CULL_NONE);
102 Ogre::Vector3 pos, scale;
103 Ogre::Quaternion orient;
104 if (!
transform(new_message, pos, orient, scale))
106 ROS_DEBUG(
"Unable to transform marker message");
116 if (old_message && num_points == old_message->points.size())
127 bool has_vertex_colors = new_message->colors.size() == num_points;
128 bool has_face_colors = new_message->colors.size() == num_points / 3;
129 bool any_vertex_has_alpha =
false;
131 const std::vector<geometry_msgs::Point>& points = new_message->points;
132 for (
size_t i = 0; i < num_points; i += 3)
134 std::vector<Ogre::Vector3> corners(3);
135 for (
size_t c = 0; c < 3; c++)
137 corners[c] = Ogre::Vector3(points[i + c].x, points[i + c].y, points[i + c].z);
139 Ogre::Vector3 normal = (corners[1] - corners[0]).crossProduct(corners[2] - corners[0]);
142 for (
size_t c = 0; c < 3; c++)
146 if (has_vertex_colors)
148 any_vertex_has_alpha = any_vertex_has_alpha || (new_message->colors[i + c].a < 0.9998);
149 manual_object_->colour(new_message->colors[i + c].r, new_message->colors[i + c].g,
150 new_message->colors[i + c].b,
151 new_message->color.a * new_message->colors[i + c].a);
153 else if (has_face_colors)
155 any_vertex_has_alpha = any_vertex_has_alpha || (new_message->colors[i / 3].a < 0.9998);
156 manual_object_->colour(new_message->colors[i / 3].r, 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) ||
182 (has_vertex_colors && any_vertex_has_alpha))
184 material_->getTechnique(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
185 material_->getTechnique(0)->setDepthWriteEnabled(
false);
189 material_->getTechnique(0)->setSceneBlending(Ogre::SBT_REPLACE);
190 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)
std::pair< std::string, int32_t > MarkerID
Ogre::ManualObject * manual_object_
Pure-virtual base class for objects which give Display subclasses context in which to work...
boost::shared_ptr< MarkerSelectionHandler > handler_
~TriangleListMarker() override
DisplayContext * context_
TriangleListMarker(MarkerDisplay *owner, DisplayContext *context, Ogre::SceneNode *parent_node)
visualization_msgs::Marker::ConstPtr MarkerConstPtr
virtual Ogre::SceneManager * getSceneManager() const =0
Returns the Ogre::SceneManager used for the main RenderPanel.
S_MaterialPtr getMaterials() override
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.
void onNewMessage(const MarkerConstPtr &old_message, const MarkerConstPtr &new_message) override