Added shininess to models (#3213)

* Advertise shininess to renderer Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Updated comments Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added codee suggestions Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added codee suggestions Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Require sdformat9 9.8 Signed-off-by: William Lew <WilliamMilesLew@gmail.com> * Added code suggestions Signed-off-by: William Lew <WilliamMilesLew@gmail.com>
gazebosim · May 6, 2022 · f6d2b94 · f6d2b94
1 parent 2f0f7af
commit f6d2b94
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diff --git a/cmake/gazebo-config.cmake.in b/cmake/gazebo-config.cmake.in
@@ -171,7 +171,7 @@ list(APPEND @PKG_NAME@_INCLUDE_DIRS ${PROTOBUF_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${PROTOBUF_LIBRARIES})
 
 # Find SDFormat
-find_package(sdformat9 REQUIRED)
+find_package(sdformat9 REQUIRED VERSION 9.8)
 list(APPEND @PKG_NAME@_INCLUDE_DIRS ${SDFormat_INCLUDE_DIRS})
 list(APPEND @PKG_NAME@_LIBRARIES ${SDFormat_LIBRARIES})
 

diff --git a/gazebo/physics/World.cc b/gazebo/physics/World.cc
@@ -1259,6 +1259,32 @@ ModelPtr World::LoadModel(sdf::ElementPtr _sdf , BasePtr _parent)
       }
     }
 
+    sdf::ElementPtr linkElem = _sdf->GetElement("link");
+    if (linkElem->HasElement("visual") &&
+        linkElem->GetElement("visual")->HasElement("material"))
+    {
+      sdf::ElementPtr matElem = linkElem->GetElement("visual")->
+          GetElement("material");
+
+      if (matElem->HasElement("shininess"))
+      {
+        this->dataPtr->materialShininessMap[modelName] =
+            matElem->Get<double>("shininess");
+      }
+      else
+      {
+        this->dataPtr->materialShininessMap[modelName] = 0;
+      }
+
+      std::string materialShininessService("/" + modelName + "/shininess");
+      if (!this->dataPtr->ignNode.Advertise(materialShininessService,
+          &World::MaterialShininessService, this))
+      {
+        gzerr << "Error advertising service ["
+              << materialShininessService << "]" << std::endl;
+      }
+    }
+
     model = this->dataPtr->physicsEngine->CreateModel(_parent);
     model->SetWorld(shared_from_this());
     model->Load(_sdf);
@@ -3437,3 +3463,12 @@ bool World::ShadowCasterRenderBackFacesService(ignition::msgs::Boolean &_res)
   _res.set_data(this->dataPtr->shadowCasterRenderBackFaces);
   return true;
 }
+
+//////////////////////////////////////////////////
+bool World::MaterialShininessService(
+    const ignition::msgs::StringMsg &_req, msgs::Any &_res)
+{
+  _res.set_type(msgs::Any::DOUBLE);
+  _res.set_double_value(this->dataPtr->materialShininessMap[_req.data()]);
+  return true;
+}
diff --git a/gazebo/physics/World.hh b/gazebo/physics/World.hh
@@ -671,6 +671,13 @@ namespace gazebo
       private: bool ShadowCasterRenderBackFacesService(
           ignition::msgs::Boolean &_response);
 
+      /// \brief Callback for "<model_name>/shininess" service.
+      /// \param[in] _request Message containing the model name.
+      /// \param[out] _response Message containing shininess value.
+      /// \return True if the info was successfully obtained.
+      private: bool MaterialShininessService(
+          const ignition::msgs::StringMsg &_request, msgs::Any &_response);
+
       /// \internal
       /// \brief Private data pointer.
       private: std::unique_ptr<WorldPrivate> dataPtr;

diff --git a/gazebo/physics/WorldPrivate.hh b/gazebo/physics/WorldPrivate.hh
@@ -397,6 +397,9 @@ namespace gazebo
 
       /// \brief Shadow caster render back faces from scene SDF
       public: bool shadowCasterRenderBackFaces = true;
+
+      /// \brief Shininess values from scene SDF
+      public: std::map<std::string, double> materialShininessMap;
     };
   }
 }

diff --git a/gazebo/rendering/Visual.cc b/gazebo/rendering/Visual.cc
@@ -346,6 +346,48 @@ void Visual::Load(sdf::ElementPtr _sdf)
 //////////////////////////////////////////////////
 void Visual::Load()
 {
+  if (this->dataPtr->sdf->HasElement("material"))
+  {
+    // Get shininess value from physics::World
+    ignition::transport::Node node;
+    msgs::Any rep;
+
+    const std::string visualName =
+        this->Name().substr(0, this->Name().find(":"));
+
+    const std::string serviceName = "/" + visualName + "/shininess";
+
+    const std::string validServiceName =
+        ignition::transport::TopicUtils::AsValidTopic(serviceName);
+
+    if (validServiceName.empty())
+    {
+        gzerr << "Service name [" << serviceName << "] not valid" << std::endl;
+        return;
+    }
+
+    ignition::msgs::StringMsg req;
+    req.set_data(visualName);
+
+    bool result;
+    unsigned int timeout = 5000;
+    bool executed = node.Request(validServiceName, req, timeout, rep, result);
+
+    if (executed)
+    {
+      if (result)
+        this->dataPtr->shininess = rep.double_value(); 
+      else
+        gzerr << "Service call [" << validServiceName << "] failed"
+              << std::endl;
+    }
+    else
+    {
+      gzerr << "Service call [" << validServiceName << "] timed out"
+            << std::endl;
+    }
+  }
+
   std::ostringstream stream;
   ignition::math::Pose3d pose;
   Ogre::MovableObject *obj = nullptr;
@@ -1432,6 +1474,7 @@ void Visual::SetSpecular(const ignition::math::Color &_color,
         {
           pass = technique->getPass(passCount);
           pass->setSpecular(Conversions::Convert(_color));
+          pass->setShininess(this->dataPtr->shininess);
         }
       }
     }

diff --git a/gazebo/rendering/Visual.hh b/gazebo/rendering/Visual.hh
@@ -30,6 +30,8 @@
 #include <ignition/math/Quaternion.hh>
 #include <ignition/math/Vector3.hh>
 #include <ignition/msgs/MessageTypes.hh>
+#include <ignition/transport/Node.hh>
+#include <ignition/transport/TopicUtils.hh>
 
 #include "gazebo/common/Mesh.hh"
 #include "gazebo/common/Time.hh"

diff --git a/gazebo/rendering/VisualPrivate.hh b/gazebo/rendering/VisualPrivate.hh
@@ -186,6 +186,9 @@ namespace gazebo
       public: ignition::math::Color specular =
           ignition::math::Color(0, 0, 0, 0);
 
+      /// \brief Specular exponent of the visual.
+      public: double shininess = 0;
+
       /// \brief Emissive color of the visual.
       public: ignition::math::Color emissive =
           ignition::math::Color(0, 0, 0, 0);

diff --git a/worlds/shapes_shininess.world b/worlds/shapes_shininess.world
@@ -0,0 +1,82 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <model name="box">
+      <pose>0 0 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <material>
+            <specular>1 0 0 1</specular>
+            <shininess>1</shininess>
+          </material>
+          <geometry>
+            <box>
+              <size>1 1 1</size>
+            </box>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="sphere">
+      <pose>0 1.5 0.5 0 0 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <material>
+            <specular>0 1 0 1</specular>
+            <shininess>5</shininess>
+          </material>
+          <geometry>
+            <sphere>
+              <radius>0.5</radius>
+            </sphere>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+    <model name="cylinder">
+      <pose>0 -1.5 0.5 0 1.5707 0</pose>
+      <link name="link">
+        <collision name="collision">
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+        </collision>
+        <visual name="visual">
+          <material>
+            <specular>0 0 1 1</specular>
+            <shininess>10</shininess>
+          </material>
+          <geometry>
+            <cylinder>
+              <radius>0.5</radius>
+              <length>1.0</length>
+            </cylinder>
+          </geometry>
+        </visual>
+      </link>
+    </model>
+  </world>
+</sdf>