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Backwards compatibility fix for Gazebo 9.6 -> Gazebo 9.0.
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asv_wave_sim_gazebo_plugins/include/asv_wave_sim_gazebo_plugins/Gazebo.hh
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,52 @@ | ||
| /* | ||
| * Copyright (C) 2012 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
|
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| /// \file Gazebo.hh | ||
| /// \brief Support for methods not available in legacy versions of Gazebo. | ||
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| #ifndef _ASV_WAVE_SIM_GAZEBO_PLUGINS_GAZEBO_HH_ | ||
| #define _ASV_WAVE_SIM_GAZEBO_PLUGINS_GAZEBO_HH_ | ||
|
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| #include <string> | ||
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| namespace gazebo | ||
| { | ||
| namespace rendering | ||
| { | ||
| class Visual; | ||
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| /// \brief Set a shader program parameter associated to this visual's | ||
| /// material | ||
| /// \param[in] _visual Reference to a Visual | ||
| /// \param[in] _paramName Name of shader parameter | ||
| /// \param[in] _shaderType Type of shader. Supported types: | ||
| /// vertex, fragment | ||
| /// \param[in] _value Value to set the parameter to. The value string can | ||
| /// be a number (int, float) or a space delimited array of numbers | ||
| /// (floats). The value type must match the type defined in the shaders. | ||
| /// Note: Setting vec2/float2 params is only supported in ogre1.9+ | ||
| void SetMaterialShaderParam( | ||
| Visual& _visual, | ||
| const std::string &_paramName, | ||
| const std::string &_shaderType, | ||
| const std::string &_value); | ||
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| }; // namespace rendering | ||
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| } // namespace gazebo | ||
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| #endif // _ASV_WAVE_SIM_GAZEBO_PLUGINS_GAZEBO_HH_ |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,152 @@ | ||
| /* | ||
| * Copyright (C) 2012 Open Source Robotics Foundation | ||
| * | ||
| * Licensed under the Apache License, Version 2.0 (the "License"); | ||
| * you may not use this file except in compliance with the License. | ||
| * You may obtain a copy of the License at | ||
| * | ||
| * http://www.apache.org/licenses/LICENSE-2.0 | ||
| * | ||
| * Unless required by applicable law or agreed to in writing, software | ||
| * distributed under the License is distributed on an "AS IS" BASIS, | ||
| * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| * See the License for the specific language governing permissions and | ||
| * limitations under the License. | ||
| * | ||
| */ | ||
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| #include "asv_wave_sim_gazebo_plugins/Gazebo.hh" | ||
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| #include <gazebo/gazebo.hh> | ||
| #include <gazebo/common/common.hh> | ||
| #include <gazebo/rendering/rendering.hh> | ||
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| #include <array> | ||
| #include <iostream> | ||
| #include <iterator> | ||
| #include <string> | ||
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| namespace gazebo | ||
| { | ||
| namespace rendering | ||
| { | ||
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| void SetMaterialShaderParam( | ||
| Visual& _visual, | ||
| const std::string &_paramName, | ||
| const std::string &_shaderType, | ||
| const std::string &_value) | ||
| { | ||
| // currently only vertex and fragment shaders are supported | ||
| if (_shaderType != "vertex" && _shaderType != "fragment") | ||
| { | ||
| gzerr << "Shader type: '" << _shaderType << "' is not supported" | ||
| << std::endl; | ||
| return; | ||
| } | ||
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| // set the parameter based name and type defined in material script | ||
| // and shaders | ||
| auto setNamedParam = [](Ogre::GpuProgramParametersSharedPtr _params, | ||
| const std::string &_name, const std::string &_v) | ||
| { | ||
| auto paramDef = _params->_findNamedConstantDefinition(_name); | ||
| if (!paramDef) | ||
| return; | ||
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| switch (paramDef->constType) | ||
| { | ||
| case Ogre::GCT_INT1: | ||
| { | ||
| int value = Ogre::StringConverter::parseInt(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| case Ogre::GCT_FLOAT1: | ||
| { | ||
| Ogre::Real value = Ogre::StringConverter::parseReal(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| #if (OGRE_VERSION >= ((1 << 16) | (9 << 8) | 0)) | ||
| case Ogre::GCT_INT2: | ||
| case Ogre::GCT_FLOAT2: | ||
| { | ||
| Ogre::Vector2 value = Ogre::StringConverter::parseVector2(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| #endif | ||
| case Ogre::GCT_INT3: | ||
| case Ogre::GCT_FLOAT3: | ||
| { | ||
| Ogre::Vector3 value = Ogre::StringConverter::parseVector3(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| case Ogre::GCT_INT4: | ||
| case Ogre::GCT_FLOAT4: | ||
| { | ||
| Ogre::Vector4 value = Ogre::StringConverter::parseVector4(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| case Ogre::GCT_MATRIX_4X4: | ||
| { | ||
| Ogre::Matrix4 value = Ogre::StringConverter::parseMatrix4(_v); | ||
| _params->setNamedConstant(_name, value); | ||
| break; | ||
| } | ||
| default: | ||
| break; | ||
| } | ||
| }; | ||
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| // loop through material techniques and passes to find the param | ||
| Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().getByName( | ||
| _visual.GetMaterialName()); | ||
| if (mat.isNull()) | ||
| { | ||
| gzerr << "Failed to find material: '" << _visual.GetMaterialName() | ||
| << std::endl; | ||
| return; | ||
| } | ||
| for (unsigned int i = 0; i < mat->getNumTechniques(); ++i) | ||
| { | ||
| Ogre::Technique *technique = mat->getTechnique(i); | ||
| if (!technique) | ||
| continue; | ||
| for (unsigned int j = 0; j < technique->getNumPasses(); ++j) | ||
| { | ||
| Ogre::Pass *pass = technique->getPass(j); | ||
| if (!pass) | ||
| continue; | ||
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| // check if pass is programmable, ie if they are using shaders | ||
| if (!pass->isProgrammable()) | ||
| continue; | ||
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| if (_shaderType == "vertex" && pass->hasVertexProgram()) | ||
| { | ||
| setNamedParam(pass->getVertexProgramParameters(), _paramName, _value); | ||
| } | ||
| else if (_shaderType == "fragment" && pass->hasFragmentProgram()) | ||
| { | ||
| setNamedParam(pass->getFragmentProgramParameters(), _paramName, _value); | ||
| } | ||
| else | ||
| { | ||
| gzerr << "Failed to retrieve shaders for material: '" | ||
| << _visual.GetMaterialName() << "', technique: '" | ||
| << technique->getName() << "', pass: '" << pass->getName() << "'" | ||
| << std::endl; | ||
| continue; | ||
| } | ||
| } | ||
| } | ||
| } | ||
|
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| } // namespace rendering | ||
| } // namespace gazebo | ||
|
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| /////////////////////////////////////////////////////////////////////////////// |
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