Added publisher for shadow caster material name

Signed-off-by: William Lew <WilliamMilesLew@gmail.com>

gazebo/physics/World.cc

@@ -217,6 +217,18 @@ void World::Load(sdf::ElementPtr _sdf)
       msgs::SceneFromSDF(this->dataPtr->sdf->GetElement("scene")));
   this->dataPtr->sceneMsg.set_name(this->Name());
 
+  if (this->dataPtr->sdf->GetElement("scene")->
+      HasElement("shadow_caster_material_name"))
+  {
+    this->dataPtr->shadowCasterMaterialName =
+      this->dataPtr->sdf->GetElement("scene")->
+        Get<std::string>("shadow_caster_material_name");
+  }
+  else
+  {
+    this->dataPtr->shadowCasterMaterialName = "Gazebo/shadow_caster";
+  }
+
   // The period at which messages are processed
   this->dataPtr->processMsgsPeriod = common::Time(0, 200000000);
 
@@ -284,6 +296,14 @@ void World::Load(sdf::ElementPtr _sdf)
         << std::endl;
   }
 
+  std::string shadowCasterService("/shadow_caster_material_name");
+  if (!this->dataPtr->ignNode.Advertise(shadowCasterService,
+      &World::ShadowCasterService, this))
+  {
+    gzerr << "Error advertising service [" << shadowCasterService << "]"
+        << std::endl;
+  }
+
   // This should come before loading of entities
   sdf::ElementPtr physicsElem = this->dataPtr->sdf->GetElement("physics");
 
@@ -3337,3 +3357,11 @@ bool World::PluginInfoService(const ignition::msgs::StringMsg &_req,
 
   return false;
 }
+
+//////////////////////////////////////////////////
+bool World::ShadowCasterService(const ignition::msgs::StringMsg &_req,
+                              ignition::msgs::StringMsg &_res)
+{
+  _res.set_data(this->dataPtr->shadowCasterMaterialName.c_str());
+  return true;
+}

gazebo/physics/World.hh

@@ -651,6 +651,9 @@ namespace gazebo
       private: bool PluginInfoService(const ignition::msgs::StringMsg &_request,
           ignition::msgs::Plugin_V &_plugins);
 
+      private: bool ShadowCasterService(const ignition::msgs::StringMsg &_request,
+          ignition::msgs::StringMsg &_response);
+
       /// \internal
       /// \brief Private data pointer.
       private: std::unique_ptr<WorldPrivate> dataPtr;

gazebo/physics/WorldPrivate.hh

@@ -385,6 +385,9 @@ namespace gazebo
 
       /// \brief SDF World DOM object
       public: std::unique_ptr<sdf::World> worldSDFDom;
+
+      /// \brief Shadow caster material name from scene SDF
+      public: std::string shadowCasterMaterialName;
     };
   }
 }

gazebo/rendering/RTShaderSystem.cc

@@ -514,13 +514,7 @@ void RTShaderSystem::RemoveShadows(ScenePtr _scene)
 /////////////////////////////////////////////////
 void RTShaderSystem::ApplyShadows(ScenePtr _scene)
 {
-  bool matchingShadowCasterName =
-      this->dataPtr->shadowCasterMaterialName == 
-      _scene->ShadowCasterMaterialName();
-
-  if ((!this->dataPtr->initialized || this->dataPtr->shadowsApplied) &&
-      matchingShadowCasterName)
-
+  if (!this->dataPtr->initialized || this->dataPtr->shadowsApplied)
     return;
 
   Ogre::SceneManager *sceneMgr = _scene->OgreSceneManager();
@@ -807,5 +801,4 @@ void RTShaderSystem::UpdateShadows(ScenePtr _scene)
 #else
   sceneMgr->setShadowTextureCasterMaterial(_scene->ShadowCasterMaterialName());
 #endif
-  this->dataPtr->shadowCasterMaterialName = _scene->ShadowCasterMaterialName();
 }

gazebo/rendering/RTShaderSystemPrivate.hh

@@ -86,8 +86,6 @@ namespace gazebo
 
       /// \brief Mutex to protect shaders and shadows update
       public: std::mutex updateMutex;
-
-      public: std::string shadowCasterMaterialName;
     };
   }
 }

gazebo/rendering/Scene.cc

@@ -206,6 +206,24 @@ Scene::Scene(const std::string &_name, const bool _enableVisualizations,
 
   this->dataPtr->sceneSimTimePosesApplied = common::Time();
   this->dataPtr->sceneSimTimePosesReceived = common::Time();
+
+  ignition::transport::Node node;
+  // Prepare the input parameters.
+  ignition::msgs::StringMsg req;
+  req.set_data("HELLO");
+  ignition::msgs::StringMsg rep;
+  bool result;
+  unsigned int timeout = 5000;
+  bool executed = node.Request("/shadow_caster_material_name", req, timeout, rep, result);
+  if (executed)
+  {
+    if (result)
+      this->dataPtr->shadowCasterMaterialName = rep.data();
+    else
+      std::cout << "Service call failed" << std::endl;
+  }
+  else
+    std::cerr << "Service call timed out" << std::endl;
 }
 
 //////////////////////////////////////////////////
@@ -1624,7 +1642,6 @@ bool Scene::ProcessSceneMsg(ConstScenePtr &_msg)
                  elem->Get<double>("start"),
                  elem->Get<double>("end"));
   }
-
   return true;
 }
 
@@ -1900,8 +1917,6 @@ void Scene::PreRender()
     {
       if (!this->dataPtr->initialized)
         RTShaderSystem::Instance()->UpdateShaders();
-
-      RTShaderSystem::Instance()->ApplyShadows(shared_from_this());
       this->dataPtr->initialized = true;
       sceneMsgsCopy.erase(sIter++);
     }