common/Material.hh

Go to the documentation of this file.

/*
 * Copyright (C) 2012-2014 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.
 *
*/
#ifndef _MATERIAL_HH_
#define _MATERIAL_HH_

#include <string>
#include <iostream>
#include "gazebo/common/Color.hh"
#include "gazebo/util/system.hh"

namespace gazebo
{
  namespace common
  {

    class GAZEBO_VISIBLE Material
    {
      public: enum ShadeMode {FLAT, GOURAUD, PHONG, BLINN, SHADE_COUNT};
      public: static std::string ShadeModeStr[SHADE_COUNT];

      public: enum BlendMode {ADD, MODULATE, REPLACE, BLEND_COUNT};
      public: static std::string BlendModeStr[BLEND_COUNT];

      public: Material();

      public: virtual ~Material();

      public: Material(const Color &_clr);

      public: std::string GetName() const;

      public: void SetTextureImage(const std::string &_tex);

      public: void SetTextureImage(const std::string &_tex,
                                   const std::string &_resourcePath);

      public: std::string GetTextureImage() const;

      public: void SetAmbient(const Color &_clr);

      public: Color GetAmbient() const;

      public: void SetDiffuse(const Color &_clr);

      public: Color GetDiffuse() const;

      public: void SetSpecular(const Color &_clr);

      public: Color GetSpecular() const;

      public: void SetEmissive(const Color &_clr);

      public: Color GetEmissive() const;

      public: void SetTransparency(double _t);

      public: double GetTransparency() const;

      public: void SetShininess(double _t);

      public: double GetShininess() const;

      public: void SetBlendFactors(double _srcFactor, double _dstFactor);

      public: void GetBlendFactors(double &_srcFactor, double &_dstFactor);

      public: void SetBlendMode(BlendMode _b);

      public: BlendMode GetBlendMode() const;

      public: void SetShadeMode(ShadeMode _b);

      public: ShadeMode GetShadeMode() const;

      public: void SetPointSize(double _size);

      public: double GetPointSize() const;

      public: void SetDepthWrite(bool _value);

      public: bool GetDepthWrite() const;

      public: void SetLighting(bool _value);

      public: bool GetLighting() const;

      public: friend std::ostream &operator<<(std::ostream &_out,
                  const gazebo::common::Material &_m)
              {
                _out << "Material:\n";
                _out << "  Name: " << _m.name << "\n";
                _out << "  Texture: " << _m.texImage << "\n";
                _out << "  Ambient: " << _m.ambient << "\n";
                _out << "  Diffuse: " << _m.diffuse << "\n";
                _out << "  Specular: " << _m.specular << "\n";
                _out << "  Emissive: " << _m.emissive << "\n";
                _out << "  Transparency: " << _m.transparency << "\n";
                _out << "  Shininess: " << _m.shininess << "\n";
                _out << "  BlendMode: " << BlendModeStr[_m.blendMode] << "\n";
                _out << "  ShadeMode: " << ShadeModeStr[_m.shadeMode] << "\n";
                _out << "  DepthWrite: " << _m.depthWrite << "\n";
                return _out;
              }

      protected: std::string name;

      protected: std::string texImage;

      protected: Color ambient;

      protected: Color diffuse;

      protected: Color specular;

      protected: Color emissive;

      protected: double transparency;

      protected: double shininess;

      protected: double pointSize;

      protected: BlendMode blendMode;

      protected: ShadeMode shadeMode;

      private: static unsigned int counter;

      private: bool depthWrite;

      private: bool lighting;

      private: double srcBlendFactor;

      private: double dstBlendFactor;
    };
  }
}
#endif