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. More...

	Material (const Color &_clr)
	Create a material with a default color. More...

virtual	~Material ()
	Destructor. More...

Color	GetAmbient () const
	Get the ambient color. More...

void	GetBlendFactors (double &_srcFactor, double &_dstFactor)
	Get the blend factors. More...

BlendMode	GetBlendMode () const
	Get the blending mode. More...

bool	GetDepthWrite () const
	Get depth write. More...

Color	GetDiffuse () const
	Get the diffuse color. More...

Color	GetEmissive () const
	Get the emissive color. More...

bool	GetLighting () const
	Get lighting enabled. More...

std::string	GetName () const
	Get the name of the material. More...

double	GetPointSize () const
	Get the point size. More...

ShadeMode	GetShadeMode () const
	Get the shading mode. More...

double	GetShininess () const
	Get the shininess. More...

Color	GetSpecular () const
	Get the specular color. More...

std::string	GetTextureImage () const
	Get a texture image. More...

double	GetTransparency () const
	Get the transparency percentage (0..1) More...

void	SetAmbient (const Color &_clr)
	Set the ambient color. More...

void	SetBlendFactors (double _srcFactor, double _dstFactor)
	Set the blende factors. More...

void	SetBlendMode (BlendMode _b)
	Set the blending mode. More...

void	SetDepthWrite (bool _value)
	Set depth write. More...

void	SetDiffuse (const Color &_clr)
	Set the diffuse color. More...

void	SetEmissive (const Color &_clr)
	Set the emissive color. More...

void	SetLighting (bool _value)
	Set lighting enabled. More...

void	SetPointSize (double _size)
	Set the point size. More...

void	SetShadeMode (ShadeMode _b)
	Set the shading mode param[in] the shading mode. More...

void	SetShininess (double _t)
	Set the shininess. More...

void	SetSpecular (const Color &_clr)
	Set the specular color. More...

void	SetTextureImage (const std::string &_tex)
	Set a texture image. More...

void	SetTextureImage (const std::string &_tex, const std::string &_resourcePath)
	Set a texture image. More...

void	SetTransparency (double _t)
	Set the transparency percentage (0..1) More...

Static Public Attributes
static std::string	BlendModeStr [BLEND_COUNT]

static std::string	ShadeModeStr [SHADE_COUNT]

Protected Attributes
Color	ambient
	the ambient light color More...

BlendMode	blendMode
	blend mode More...

Color	diffuse
	the diffuse ligth color More...

Color	emissive
	the emissive light color More...

std::string	name
	the name of the material More...

double	pointSize
	point size More...

ShadeMode	shadeMode
	the shade mode More...

double	shininess
	shininess value (0 to 1) More...

Color	specular
	the specular light color More...

std::string	texImage
	the texture image file name More...

double	transparency
	transparency value in the range 0 to 1 More...

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. More...

Detailed Description

Encapsulates description of a material.

Member Enumeration Documentation

enum BlendMode

Enumerator
ADD
MODULATE
REPLACE
BLEND_COUNT

enum ShadeMode

Enumerator
FLAT
GOURAUD
PHONG
BLINN
SHADE_COUNT

Constructor & Destructor Documentation

Material ( )

Constructor.

virtual ~Material ( )

virtual

Destructor.

Material ( const Color & _clr )

Create a material with a default color.

Parameters

[in] _clr Color of the material

Member Function Documentation

Color GetAmbient ( ) const

Get the ambient color.

Returns: The ambient color

void GetBlendFactors	(	double &	_srcFactor,
		double &	_dstFactor
	)

Get the blend factors.

Parameters

[in]	_srcFactor	Source factor is returned in this variable
[in]	_dstFactor	Destination factor is returned in this variable

BlendMode GetBlendMode ( ) const

Get the blending mode.

Returns: the blend mode

bool GetDepthWrite ( ) const

Get depth write.

Returns: the depth write enabled state

Color GetDiffuse ( ) const

Get the diffuse color.

Returns: The diffuse color

Color GetEmissive ( ) const

Get the emissive color.

Returns: The emissive color

bool GetLighting ( ) const

Get lighting enabled.

Returns: the lighting enabled state

std::string GetName ( ) const

Get the name of the material.

Returns: The name of the material

double GetPointSize ( ) const

Get the point size.

Returns: the point size

ShadeMode GetShadeMode ( ) const

Get the shading mode.

Returns: the shading mode

double GetShininess ( ) const

Get the shininess.

Returns: The shininess value

Color GetSpecular ( ) const

Get the specular color.

Returns: The specular color

std::string GetTextureImage ( ) const

Get a texture image.

Returns: The name of the texture image (if one exists) or an empty string

double GetTransparency ( ) const

Get the transparency percentage (0..1)

Returns: The transparency percentage

void SetAmbient ( const Color & _clr )

Set the ambient color.

Parameters

[in] _clr The ambient color

void SetBlendFactors	(	double	_srcFactor,
		double	_dstFactor
	)

Set the blende factors.

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

Parameters

[in]	_srcFactor	The source factor
[in]	_dstFactor	The destination factor

void SetBlendMode ( BlendMode _b )

Set the blending mode.

Parameters

[in] _b the blend mode

void SetDepthWrite ( bool _value )

Set depth write.

Parameters

[in] _value the depth write enabled state

void SetDiffuse ( const Color & _clr )

Set the diffuse color.

Parameters

[in] _clr The diffuse color

void SetEmissive ( const Color & _clr )

Set the emissive color.

Parameters

[in] _clr The emissive color

void SetLighting ( bool _value )

Set lighting enabled.

Parameters

[in] _value the lighting enabled state

void SetPointSize ( double _size )

Set the point size.

Parameters

[in] _size the size

void SetShadeMode ( ShadeMode _b )

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

void SetShininess ( double _t )

Set the shininess.

Parameters

[in] _t The shininess value

void SetSpecular ( const Color & _clr )

Set the specular color.

Parameters

[in] _clr The specular color

void SetTextureImage ( const std::string & _tex )

Set a texture image.

Parameters

[in] _tex The name of the texture, which must be in Gazebo's resource path

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

Set a texture image.

Parameters

[in]	_tex	The name of the texture
[in]	_resourcePath	Path which contains _tex

void SetTransparency ( double _t )

Set the transparency percentage (0..1)

Parameters

[in] _t The 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 ambient

protected

the ambient light color

BlendMode blendMode

protected

blend mode

std::string BlendModeStr[BLEND_COUNT]

static

Color diffuse

protected

the diffuse ligth color

Color emissive

protected

the emissive light color

std::string name

protected

the name of the material

double pointSize

protected

point size

ShadeMode shadeMode

protected

the shade mode

std::string ShadeModeStr[SHADE_COUNT]

static

double shininess

protected

shininess value (0 to 1)

Color specular

protected

the specular light color

std::string texImage

protected

the texture image file name

double transparency

protected

transparency value in the range 0 to 1

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

common/Material.hh

Public Types

Public Member Functions

Static Public Attributes

Protected Attributes

Friends

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation