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Color tinting for mesh markers #752

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Apr 30, 2014
Merged

Color tinting for mesh markers #752

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112 changes: 63 additions & 49 deletions src/rviz/default_plugin/markers/mesh_resource_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,13 +65,14 @@ void MeshResourceMarker::reset()
//destroy entity
if (entity_)
{
context_->getSceneManager()->destroyEntity( entity_ );
context_->getSceneManager()->destroyEntity(entity_);
entity_ = 0;
}


// destroy all the materials we've created
S_MaterialPtr::iterator it;
for ( it = materials_.begin(); it!=materials_.end(); it++ )
for (it = materials_.begin(); it != materials_.end(); it++)
{
Ogre::MaterialPtr material = *it;
if (!material.isNull())
Expand All @@ -81,19 +82,22 @@ void MeshResourceMarker::reset()
}
}
materials_.clear();
// the actual passes are deleted by the material
color_tint_passes_.clear();
}

void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
{
ROS_ASSERT(new_message->type == visualization_msgs::Marker::MESH_RESOURCE);

bool need_color = false;
// flag indicating if the mesh material color needs to be updated
bool update_color = false;

scene_node_->setVisible(false);

if( !entity_ ||
if (!entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials )
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
{
reset();

Expand All @@ -106,7 +110,7 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
{
std::stringstream ss;
ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
if ( owner_ )
if (owner_)
{
owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
}
Expand All @@ -120,84 +124,95 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
std::string id = ss.str();
entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
scene_node_->attachObject(entity_);
need_color = true;

// create a default material for any sub-entities which don't have their own.
ss << "Material";
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create( ss.str(), ROS_PACKAGE_NAME );
Ogre::MaterialPtr default_material = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient( 0.5, 0.5, 0.5 );
materials_.insert( default_material );
default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);
materials_.insert(default_material);

if ( new_message->mesh_use_embedded_materials )
if (new_message->mesh_use_embedded_materials)
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();

S_MaterialPtr::iterator it;
for ( it = materials.begin(); it!=materials.end(); it++ )
for (it = materials.begin(); it != materials.end(); it++)
{
if( (*it)->getName() != "BaseWhiteNoLighting" )
if ((*it)->getName() != "BaseWhiteNoLighting")
{
Ogre::MaterialPtr new_material = (*it)->clone( id + (*it)->getName() );
materials_.insert( new_material );
Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
materials_.insert(new_material);
}
}

// make sub-entities use cloned materials
for (uint32_t i = 0; i < entity_->getNumSubEntities(); ++i)
{
std::string mat_name = entity_->getSubEntity(i)->getMaterialName();
if( mat_name != "BaseWhiteNoLighting" )
if (mat_name != "BaseWhiteNoLighting")
{
entity_->getSubEntity(i)->setMaterialName( id + mat_name );
entity_->getSubEntity(i)->setMaterialName(id + mat_name);
}
else
{
// BaseWhiteNoLighting is the default material Ogre uses
// when it sees a mesh with no material. Here we replace
// that with our default_material which gets colored with
// new_message->color.
entity_->getSubEntity(i)->setMaterial( default_material );
entity_->getSubEntity(i)->setMaterial(default_material);
}
}
}
else
{
entity_->setMaterial( default_material );
entity_->setMaterial(default_material);
}

// add a pass to every material to perform the color tinting
S_MaterialPtr::iterator material_it;
for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
{
Ogre::Technique* technique = (*material_it)->getTechnique(0);
color_tint_passes_.push_back(technique->createPass());
}

handler_.reset( new MarkerSelectionHandler( this, MarkerID( new_message->ns, new_message->id ), context_ ));
handler_->addTrackedObject( entity_ );
// always update color on resource change
update_color = true;

handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
}
else
{
// underlying mesh resource has not changed but if the color has
// then we need to update the materials color
if (!old_message
|| old_message->color.r != new_message->color.r
|| old_message->color.g != new_message->color.g
|| old_message->color.b != new_message->color.b
|| old_message->color.a != new_message->color.a)
{
update_color = true;
}
}

if( need_color ||
old_message->color.r != new_message->color.r ||
old_message->color.g != new_message->color.g ||
old_message->color.b != new_message->color.b ||
old_message->color.a != new_message->color.a )
// update material color
// if the mesh_use_embedded_materials is true and color is non-zero
// then the color will be used to tint the embedded materials
if (update_color)
{
float r = new_message->color.r;
float g = new_message->color.g;
float b = new_message->color.b;
float a = new_message->color.a;

// Old way was to ignore the color and alpha when using embedded
// materials, which meant you could leave them unset, which means
// 0. Since we now USE the color and alpha values, leaving them
// all 0 will mean the object will be invisible. Therefore detect
// the situation where RGBA are all 0 and treat that the same as
// all 1 (full white).
if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 )
{
r = 1; g = 1; b = 1; a = 1;
}

Ogre::SceneBlendType blending;
bool depth_write;

if ( a < 0.9998 )
if (a < 0.9998)
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
Expand All @@ -208,16 +223,15 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
depth_write = true;
}

S_MaterialPtr::iterator it;
for( it = materials_.begin(); it != materials_.end(); it++ )
for (std::vector<Ogre::Pass*>::iterator it = color_tint_passes_.begin();
it != color_tint_passes_.end();
++it)
{
Ogre::Technique* technique = (*it)->getTechnique( 0 );

technique->setAmbient( r*0.5, g*0.5, b*0.5 );
technique->setDiffuse( r, g, b, a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
technique->setLightingEnabled( true );
(*it)->setAmbient(0.5 * r, 0.5 * g, 0.5 * b);
(*it)->setDiffuse(r, g, b, a);
(*it)->setSceneBlending(blending);
(*it)->setDepthWriteEnabled(depth_write);
(*it)->setLightingEnabled(true);
}
}

Expand All @@ -235,9 +249,9 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
S_MaterialPtr MeshResourceMarker::getMaterials()
{
S_MaterialPtr materials;
if( entity_ )
if (entity_)
{
extractMaterials( entity_, materials );
extractMaterials(entity_, materials);
}
return materials;
}
Expand Down
2 changes: 2 additions & 0 deletions src/rviz/default_plugin/markers/mesh_resource_marker.h
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,8 @@ class MeshResourceMarker : public MarkerBase
//! Scaling factor to convert units. Currently relevant for Collada only.
float unit_rescale_;

//! list of passes created for adding color tint to the mesh
std::vector<Ogre::Pass*> color_tint_passes_;
};

}
Expand Down