common/Material.hh
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1 /*
2  * Copyright (C) 2012 Open Source Robotics Foundation
3  *
4  * Licensed under the Apache License, Version 2.0 (the "License");
5  * you may not use this file except in compliance with the License.
6  * You may obtain a copy of the License at
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8  * http://www.apache.org/licenses/LICENSE-2.0
9  *
10  * Unless required by applicable law or agreed to in writing, software
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13  * See the License for the specific language governing permissions and
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16 */
17 #ifndef GAZEBO_COMMON_MATERIAL_HH_
18 #define GAZEBO_COMMON_MATERIAL_HH_
19 
20 #include <string>
21 #include <iostream>
22 #include <ignition/math/Color.hh>
23 #include "gazebo/util/system.hh"
24 
25 namespace gazebo
26 {
27  namespace common
28  {
31 
34  class GZ_COMMON_VISIBLE Material
35  {
36  public: enum ShadeMode {FLAT, GOURAUD, PHONG, BLINN, SHADE_COUNT};
37  public: static std::string ShadeModeStr[SHADE_COUNT];
38 
39  public: enum BlendMode {ADD, MODULATE, REPLACE, BLEND_COUNT};
40  public: static std::string BlendModeStr[BLEND_COUNT];
41 
43  public: Material();
44 
46  public: virtual ~Material();
47 
50  public: explicit Material(const ignition::math::Color &_clr);
51 
54  public: std::string GetName() const;
55 
59  public: void SetTextureImage(const std::string &_tex);
60 
64  public: void SetTextureImage(const std::string &_tex,
65  const std::string &_resourcePath);
66 
70  public: std::string GetTextureImage() const;
71 
74  public: void SetAmbient(const ignition::math::Color &_clr);
75 
78  public: ignition::math::Color Ambient() const;
79 
82  public: void SetDiffuse(const ignition::math::Color &_clr);
83 
86  public: ignition::math::Color Diffuse() const;
87 
90  public: void SetSpecular(const ignition::math::Color &_clr);
91 
94  public: ignition::math::Color Specular() const;
95 
98  public: void SetEmissive(const ignition::math::Color &_clr);
99 
102  public: ignition::math::Color Emissive() const;
103 
106  public: void SetTransparency(double _t);
107 
110  public: double GetTransparency() const;
111 
114  public: void SetShininess(double _t);
115 
118  public: double GetShininess() const;
119 
124  public: void SetBlendFactors(double _srcFactor, double _dstFactor);
125 
129  public: void GetBlendFactors(double &_srcFactor, double &_dstFactor)
130  const;
131 
134  public: void SetBlendMode(BlendMode _b);
135 
138  public: BlendMode GetBlendMode() const;
139 
142  public: void SetShadeMode(ShadeMode _b);
143 
146  public: ShadeMode GetShadeMode() const;
147 
150  public: void SetPointSize(double _size);
151 
154  public: double GetPointSize() const;
155 
158  public: void SetDepthWrite(bool _value);
159 
162  public: bool GetDepthWrite() const;
163 
166  public: void SetLighting(bool _value);
167 
170  public: bool GetLighting() const;
171 
175  public: friend std::ostream &operator<<(std::ostream &_out,
176  const gazebo::common::Material &_m)
177  {
178  _out << "Material:\n";
179  _out << " Name: " << _m.name << "\n";
180  _out << " Texture: " << _m.texImage << "\n";
181  _out << " Ambient: " << _m.ambient << "\n";
182  _out << " Diffuse: " << _m.diffuse << "\n";
183  _out << " Specular: " << _m.specular << "\n";
184  _out << " Emissive: " << _m.emissive << "\n";
185  _out << " Transparency: " << _m.transparency << "\n";
186  _out << " Shininess: " << _m.shininess << "\n";
187  _out << " BlendMode: " << BlendModeStr[_m.blendMode] << "\n";
188  _out << " ShadeMode: " << ShadeModeStr[_m.shadeMode] << "\n";
189  _out << " DepthWrite: " << _m.depthWrite << "\n";
190  return _out;
191  }
192 
194  protected: std::string name;
195 
197  protected: std::string texImage;
198 
200  protected: ignition::math::Color ambient;
201 
203  protected: ignition::math::Color diffuse;
204 
206  protected: ignition::math::Color specular;
207 
209  protected: ignition::math::Color emissive;
210 
212  protected: double transparency = 0.0;
213 
215  protected: double shininess = 0.0;
216 
218  protected: double pointSize;
219 
221  protected: BlendMode blendMode;
222 
224  protected: ShadeMode shadeMode;
225 
227  private: static unsigned int counter;
228 
230  private: bool depthWrite = true;
231 
232  private: bool lighting = true;
233 
235  private: double srcBlendFactor;
236 
238  private: double dstBlendFactor;
239  };
241  }
242 }
243 #endif
ShadeMode shadeMode
the shade mode
Definition: common/Material.hh:224
Encapsulates description of a material.
Definition: common/Material.hh:34
Forward declarations for the common classes.
Definition: Animation.hh:26
std::string texImage
the texture image file name
Definition: common/Material.hh:197
ignition::math::Color diffuse
the diffuse ligth color
Definition: common/Material.hh:203
Definition: common/Material.hh:39
ShadeMode
Definition: common/Material.hh:36
ignition::math::Color emissive
the emissive light color
Definition: common/Material.hh:209
std::string name
the name of the material
Definition: common/Material.hh:194
double pointSize
point size
Definition: common/Material.hh:218
double shininess
shininess value (0 to 1)
Definition: common/Material.hh:215
BlendMode
Definition: common/Material.hh:39
ignition::math::Color ambient
the ambient light color
Definition: common/Material.hh:200
ignition::math::Color specular
the specular light color
Definition: common/Material.hh:206
BlendMode blendMode
blend mode
Definition: common/Material.hh:221
friend 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...
Definition: common/Material.hh:175
double transparency
transparency value in the range 0 to 1
Definition: common/Material.hh:212