C++ Technique::setAmbient方法代码示例

void MeshPersonVisual::setColor(const Ogre::ColourValue& c) {
    Ogre::SceneBlendType blending;
    bool depth_write;

    if ( c.a < 0.9998 )
    {
      blending = Ogre::SBT_TRANSPARENT_ALPHA;
      depth_write = false;
    }
    else
    {
      blending = Ogre::SBT_REPLACE;
      depth_write = true;
    }

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

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

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;

  scene_node_->setVisible(false);

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

    if (new_message->mesh_resource.empty())
    {
      return;
    }

    if (loadMeshFromResource(new_message->mesh_resource).isNull())
    {
      std::stringstream ss;
      ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
      if ( owner_ )
      {
        owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
      }
      ROS_DEBUG("%s", ss.str().c_str());
      return;
    }

    static uint32_t count = 0;
    std::stringstream ss;
    ss << "mesh_resource_marker_" << count++;
    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 );
    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 );

    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++ )
      {
        if( (*it)->getName() != "BaseWhiteNoLighting" )
        {
          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" )
        {
          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 );
        }
      }
    }
    else
    {
      entity_->setMaterial( default_material );
    }

    context_->getSelectionManager()->removeObject(coll_);
    coll_ = context_->getSelectionManager()->createCollisionForEntity(entity_, SelectionHandlerPtr(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id))), coll_);
  }

  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 )
  {
    float r = new_message->color.r;
    float g = new_message->color.g;
    float b = new_message->color.b;
    float a = new_message->color.a;

//.........这里部分代码省略.........

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

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

  scene_node_->setVisible(false);

  // Get the color information from the message
  float r = new_message->color.r;
  float g = new_message->color.g;
  float b = new_message->color.b;
  float a = new_message->color.a;

  Ogre::SceneBlendType blending;
  bool depth_write;

  if (a < 0.9998)
  {
    blending = Ogre::SBT_TRANSPARENT_ALPHA;
    depth_write = false;
  }
  else
  {
    blending = Ogre::SBT_REPLACE;
    depth_write = true;
  }


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

    if (new_message->mesh_resource.empty())
    {
      return;
    }

    if (loadMeshFromResource(new_message->mesh_resource).isNull())
    {
      std::stringstream ss;
      ss << "Mesh resource marker [" << getStringID() << "] could not load [" << new_message->mesh_resource << "]";
      if (owner_)
      {
        owner_->setMarkerStatus(getID(), StatusProperty::Error, ss.str());
      }
      ROS_DEBUG("%s", ss.str().c_str());
      return;
    }

    static uint32_t count = 0;
    std::stringstream ss;
    ss << "mesh_resource_marker_" << count++;
    std::string id = ss.str();
    entity_ = context_->getSceneManager()->createEntity(id, new_message->mesh_resource);
    scene_node_->attachObject(entity_);
    
    // 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);
    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);

    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++)
      {
        if ((*it)->getName() != "BaseWhiteNoLighting")
        {
          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")
        {
          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);
        }
//.........这里部分代码省略.........