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/*
* Copyright 2019 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.
*
*/
#include "sdf/Scene.hh"
#include "Utils.hh"
using namespace sdf;
/// \brief Scene private data.
class sdf::ScenePrivate
{
/// \brief True if grid should be enabled
public: bool grid = true;
/// \brief True if shadows should be enabled
public: bool shadows = true;
/// \brief True if originVisual should be enabled
public: bool originVisual = true;
/// \brief Ambient light color of the scene.
public: ignition::math::Color ambient =
ignition::math::Color(0.4f, 0.4f, 0.4f);
/// \brief Background color of the scene.
public: ignition::math::Color background =
ignition::math::Color(0.7f, 0.7f, .7f);
/// \brief The SDF element pointer used during load.
public: sdf::ElementPtr sdf;
};
/////////////////////////////////////////////////
Scene::Scene()
: dataPtr(new ScenePrivate)
{
}
/////////////////////////////////////////////////
Scene::~Scene()
{
delete this->dataPtr;
this->dataPtr = nullptr;
}
/////////////////////////////////////////////////
Scene::Scene(const Scene &_scene)
: dataPtr(new ScenePrivate(*_scene.dataPtr))
{
}
/////////////////////////////////////////////////
Scene::Scene(Scene &&_scene) noexcept
: dataPtr(std::exchange(_scene.dataPtr, nullptr))
{
}
/////////////////////////////////////////////////
Scene &Scene::operator=(const Scene &_scene)
{
return *this = Scene(_scene);
}
/////////////////////////////////////////////////
Scene &Scene::operator=(Scene &&_scene)
{
std::swap(this->dataPtr, _scene.dataPtr);
return *this;
}
/////////////////////////////////////////////////
Errors Scene::Load(ElementPtr _sdf)
{
Errors errors;
this->dataPtr->sdf = _sdf;
// Check that the provided SDF element is a <scene> element.
// This is an error that cannot be recovered, so return an error.
if (_sdf->GetName() != "scene")
{
errors.push_back({ErrorCode::ELEMENT_INCORRECT_TYPE,
"Attempting to load a Scene, but the provided SDF element is not a "
"<scene>."});
return errors;
}
// Get the ambient property
this->dataPtr->ambient= _sdf->Get<ignition::math::Color>("ambient",
this->dataPtr->ambient).first;
// Get the background color property
this->dataPtr->background = _sdf->Get<ignition::math::Color>("background",
this->dataPtr->background).first;
// Get the grid property
this->dataPtr->grid = _sdf->Get<bool>("grid",
this->dataPtr->grid).first;
// Get the shadows property
this->dataPtr->shadows = _sdf->Get<bool>("shadows",
this->dataPtr->shadows).first;
// Get the origin_visual property
this->dataPtr->originVisual = _sdf->Get<bool>("origin_visual",
this->dataPtr->originVisual).first;
return errors;
}
/////////////////////////////////////////////////
ignition::math::Color Scene::Ambient() const
{
return this->dataPtr->ambient;
}
/////////////////////////////////////////////////
void Scene::SetAmbient(const ignition::math::Color &_ambient)
{
this->dataPtr->ambient = _ambient;
}
/////////////////////////////////////////////////
ignition::math::Color Scene::Background() const
{
return this->dataPtr->background;
}
/////////////////////////////////////////////////
void Scene::SetBackground(const ignition::math::Color &_background)
{
this->dataPtr->background = _background;
}
/////////////////////////////////////////////////
bool Scene::Grid() const
{
return this->dataPtr->grid;
}
/////////////////////////////////////////////////
void Scene::SetGrid(const bool _enabled)
{
this->dataPtr->grid = _enabled;
}
/////////////////////////////////////////////////
bool Scene::Shadows() const
{
return this->dataPtr->shadows;
}
/////////////////////////////////////////////////
void Scene::SetShadows(const bool _enabled)
{
this->dataPtr->shadows = _enabled;
}
/////////////////////////////////////////////////
bool Scene::OriginVisual() const
{
return this->dataPtr->originVisual;
}
/////////////////////////////////////////////////
void Scene::SetOriginVisual(const bool _enabled)
{
this->dataPtr->originVisual = _enabled;
}
/////////////////////////////////////////////////
sdf::ElementPtr Scene::Element() const
{
return this->dataPtr->sdf;
}
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