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gazebo::common::Material Class Reference

Encapsulates description of a material. More...

#include <common/common.hh>

Public Types

enum  BlendMode { ADD, MODULATE, REPLACE, BLEND_COUNT }
 
enum  ShadeMode {
  FLAT, GOURAUD, PHONG, BLINN,
  SHADE_COUNT
}
 

Public Member Functions

 Material ()
 Constructor.
 
 Material (const Color &_clr)
 Create a material with a default color.
 
virtual ~Material ()
 Destructor.
 
Color GetAmbient () const
 Get the ambient color.
 
void GetBlendFactors (double &_srcFactor, double &_dstFactor)
 Get the blend factors.
 
BlendMode GetBlendMode () const
 Get the blending mode.
 
bool GetDepthWrite () const
 Get depth write.
 
Color GetDiffuse () const
 Get the diffuse color.
 
Color GetEmissive () const
 Get the emissive color.
 
bool GetLighting () const
 Get lighting enabled.
 
std::string GetName () const
 Get the name of the material.
 
double GetPointSize () const
 Get the point size.
 
ShadeMode GetShadeMode () const
 Get the shading mode.
 
double GetShininess () const
 Get the shininess.
 
Color GetSpecular () const
 Get the specular color.
 
std::string GetTextureImage () const
 Get a texture image.
 
double GetTransparency () const
 Get the transparency percentage (0..1)
 
void SetAmbient (const Color &_clr)
 Set the ambient color.
 
void SetBlendFactors (double _srcFactor, double _dstFactor)
 Set the blende factors.
 
void SetBlendMode (BlendMode _b)
 Set the blending mode.
 
void SetDepthWrite (bool _value)
 Set depth write.
 
void SetDiffuse (const Color &_clr)
 Set the diffuse color.
 
void SetEmissive (const Color &_clr)
 Set the emissive color.
 
void SetLighting (bool _value)
 Set lighting enabled.
 
void SetPointSize (double _size)
 Set the point size.
 
void SetShadeMode (ShadeMode _b)
 Set the shading mode param[in] the shading mode.
 
void SetShininess (double _t)
 Set the shininess.
 
void SetSpecular (const Color &_clr)
 Set the specular color.
 
void SetTextureImage (const std::string &_tex)
 Set a texture image.
 
void SetTextureImage (const std::string &_tex, const std::string &_resourcePath)
 Set a texture image.
 
void SetTransparency (double _t)
 Set the transparency percentage (0..1)
 

Static Public Attributes

static std::string BlendModeStr [BLEND_COUNT]
 
static std::string ShadeModeStr [SHADE_COUNT]
 

Protected Attributes

Color ambient
 the ambient light color
 
BlendMode blendMode
 blend mode
 
Color diffuse
 the diffuse ligth color
 
Color emissive
 the emissive light color
 
std::string name
 the name of the material
 
double pointSize
 point size
 
ShadeMode shadeMode
 the shade mode
 
double shininess
 shininess value (0 to 1)
 
Color specular
 the specular light color
 
std::string texImage
 the texture image file name
 
double transparency
 transparency value in the range 0 to 1
 

Friends

std::ostream & operator<< (std::ostream &_out, const gazebo::common::Material &_m)
 Stream insertion operator param[in] _out the output stream to extract from param[out] _m the material information.
 

Detailed Description

Encapsulates description of a material.

Member Enumeration Documentation

Enumerator:
ADD 
MODULATE 
REPLACE 
BLEND_COUNT 
Enumerator:
FLAT 
GOURAUD 
PHONG 
BLINN 
SHADE_COUNT 

Constructor & Destructor Documentation

gazebo::common::Material::Material ( )

Constructor.

virtual gazebo::common::Material::~Material ( )
virtual

Destructor.

gazebo::common::Material::Material ( const Color _clr)

Create a material with a default color.

Parameters
[in]_clrColor of the material

Member Function Documentation

Color gazebo::common::Material::GetAmbient ( ) const

Get the ambient color.

Returns
The ambient color
void gazebo::common::Material::GetBlendFactors ( double &  _srcFactor,
double &  _dstFactor 
)

Get the blend factors.

Parameters
[in]_srcFactorSource factor is returned in this variable
[in]_dstFactorDestination factor is returned in this variable
BlendMode gazebo::common::Material::GetBlendMode ( ) const

Get the blending mode.

Returns
the blend mode
bool gazebo::common::Material::GetDepthWrite ( ) const

Get depth write.

Returns
the depth write enabled state
Color gazebo::common::Material::GetDiffuse ( ) const

Get the diffuse color.

Returns
The diffuse color
Color gazebo::common::Material::GetEmissive ( ) const

Get the emissive color.

Returns
The emissive color
bool gazebo::common::Material::GetLighting ( ) const

Get lighting enabled.

Returns
the lighting enabled state
std::string gazebo::common::Material::GetName ( ) const

Get the name of the material.

Returns
The name of the material
double gazebo::common::Material::GetPointSize ( ) const

Get the point size.

Returns
the point size
ShadeMode gazebo::common::Material::GetShadeMode ( ) const

Get the shading mode.

Returns
the shading mode
double gazebo::common::Material::GetShininess ( ) const

Get the shininess.

Returns
The shininess value
Color gazebo::common::Material::GetSpecular ( ) const

Get the specular color.

Returns
The specular color
std::string gazebo::common::Material::GetTextureImage ( ) const

Get a texture image.

Returns
The name of the texture image (if one exists) or an empty string
double gazebo::common::Material::GetTransparency ( ) const

Get the transparency percentage (0..1)

Returns
The transparency percentage
void gazebo::common::Material::SetAmbient ( const Color _clr)

Set the ambient color.

Parameters
[in]_clrThe ambient color
void gazebo::common::Material::SetBlendFactors ( double  _srcFactor,
double  _dstFactor 
)

Set the blende factors.

Will be interpreted as: (texture * _srcFactor) + (scene_pixel * _dstFactor)

Parameters
[in]_srcFactorThe source factor
[in]_dstFactorThe destination factor
void gazebo::common::Material::SetBlendMode ( BlendMode  _b)

Set the blending mode.

Parameters
[in]_bthe blend mode
void gazebo::common::Material::SetDepthWrite ( bool  _value)

Set depth write.

Parameters
[in]_valuethe depth write enabled state
void gazebo::common::Material::SetDiffuse ( const Color _clr)

Set the diffuse color.

Parameters
[in]_clrThe diffuse color
void gazebo::common::Material::SetEmissive ( const Color _clr)

Set the emissive color.

Parameters
[in]_clrThe emissive color
void gazebo::common::Material::SetLighting ( bool  _value)

Set lighting enabled.

Parameters
[in]_valuethe lighting enabled state
void gazebo::common::Material::SetPointSize ( double  _size)

Set the point size.

Parameters
[in]_sizethe size
void gazebo::common::Material::SetShadeMode ( ShadeMode  _b)

Set the shading mode param[in] the shading mode.

void gazebo::common::Material::SetShininess ( double  _t)

Set the shininess.

Parameters
[in]_tThe shininess value
void gazebo::common::Material::SetSpecular ( const Color _clr)

Set the specular color.

Parameters
[in]_clrThe specular color
void gazebo::common::Material::SetTextureImage ( const std::string &  _tex)

Set a texture image.

Parameters
[in]_texThe name of the texture, which must be in Gazebo's resource path
void gazebo::common::Material::SetTextureImage ( const std::string &  _tex,
const std::string &  _resourcePath 
)

Set a texture image.

Parameters
[in]_texThe name of the texture
[in]_resourcePathPath which contains _tex
void gazebo::common::Material::SetTransparency ( double  _t)

Set the transparency percentage (0..1)

Parameters
[in]_tThe amount of transparency (0..1)

Friends And Related Function Documentation

std::ostream& operator<< ( std::ostream &  _out,
const gazebo::common::Material _m 
)
friend

Stream insertion operator param[in] _out the output stream to extract from param[out] _m the material information.

Member Data Documentation

Color gazebo::common::Material::ambient
protected

the ambient light color

BlendMode gazebo::common::Material::blendMode
protected

blend mode

std::string gazebo::common::Material::BlendModeStr[BLEND_COUNT]
static
Color gazebo::common::Material::diffuse
protected

the diffuse ligth color

Color gazebo::common::Material::emissive
protected

the emissive light color

std::string gazebo::common::Material::name
protected

the name of the material

double gazebo::common::Material::pointSize
protected

point size

ShadeMode gazebo::common::Material::shadeMode
protected

the shade mode

std::string gazebo::common::Material::ShadeModeStr[SHADE_COUNT]
static
double gazebo::common::Material::shininess
protected

shininess value (0 to 1)

Color gazebo::common::Material::specular
protected

the specular light color

std::string gazebo::common::Material::texImage
protected

the texture image file name

double gazebo::common::Material::transparency
protected

transparency value in the range 0 to 1


The documentation for this class was generated from the following file: