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Fix tinting of mesh markers #1424

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merged 3 commits into from
Sep 20, 2019
Merged

Fix tinting of mesh markers #1424

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1cdc8f5
generalize mesh marker test
rhaschke Sep 9, 2019
4c66ddb
code cleanup
rhaschke Sep 9, 2019
400652d
pass-based tinting
rhaschke Sep 9, 2019
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93 changes: 44 additions & 49 deletions src/rviz/default_plugin/markers/mesh_resource_marker.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -82,7 +82,6 @@ void MeshResourceMarker::reset()
}
}
materials_.clear();

}

void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const MarkerConstPtr& new_message)
Expand All @@ -100,21 +99,6 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
float b = new_message->color.b;
float a = new_message->color.a;

Ogre::SceneBlendType blending;
bool depth_write;

if (a < 0.9998)
{
blending = Ogre::SBT_TRANSPARENT_ALPHA;
depth_write = false;
}
else
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
}


if (!entity_ ||
old_message->mesh_resource != new_message->mesh_resource ||
old_message->mesh_use_embedded_materials != new_message->mesh_use_embedded_materials)
Expand Down Expand Up @@ -151,20 +135,23 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
default_material->setReceiveShadows(false);
default_material->getTechnique(0)->setLightingEnabled(true);
default_material->getTechnique(0)->setAmbient(0.5, 0.5, 0.5);

materials_.insert(default_material);

if (new_message->mesh_use_embedded_materials)
{
// make clones of all embedded materials so selection works correctly
S_MaterialPtr materials = getMaterials();

S_MaterialPtr::iterator it;
for (it = materials.begin(); it != materials.end(); it++)
for (const Ogre::MaterialPtr& material : getMaterials())
{
if ((*it)->getName() != "BaseWhiteNoLighting")
if (material->getName() != "BaseWhiteNoLighting")
{
Ogre::MaterialPtr new_material = (*it)->clone(id + (*it)->getName());
Ogre::MaterialPtr new_material = material->clone(id + material->getName());
// add a new pass to every custom material to perform the color tinting
Ogre::Pass* pass = new_material->getTechnique(0)->createPass();
pass->setAmbient( 0.0f, 0.0f, 0.0f );
pass->setDiffuse( 0.0f, 0.0f, 0.0f, 0.0f );
pass->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
pass->setDepthWriteEnabled(false);
pass->setLightingEnabled(true);
materials_.insert(new_material);
}
}
Expand Down Expand Up @@ -192,49 +179,57 @@ void MeshResourceMarker::onNewMessage(const MarkerConstPtr& old_message, const M
entity_->setMaterial(default_material);
}

update_color = true;
update_color = !(new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0);

handler_.reset(new MarkerSelectionHandler(this, MarkerID(new_message->ns, new_message->id), context_));
handler_->addTrackedObject(entity_);
}
else
{
// underlying mesh resource has not changed but if the color has
// then we need to update the materials color
if (new_message->mesh_use_embedded_materials == false
&& (!old_message
|| old_message->mesh_use_embedded_materials == true
|| old_message->color.r != new_message->color.r
|| old_message->color.g != new_message->color.g
|| old_message->color.b != new_message->color.b
|| old_message->color.a != new_message->color.a))
// then we need to update the materials color
if (!old_message
|| old_message->color.r != r
|| old_message->color.g != g
|| old_message->color.b != b
|| old_message->color.a != a)
{
update_color = true;
}
}

// update material color
// if the mesh_use_embedded_materials is true and color is non-zero
// then the color will be used to tint the embedded materials
if (update_color)
{
if( new_message->mesh_use_embedded_materials && r == 0 && g == 0 && b == 0 && a == 0 )
{
blending = Ogre::SBT_REPLACE;
depth_write = true;
r = 1; g = 1; b = 1; a = 1;
}
S_MaterialPtr::iterator material_it;
for (material_it = materials_.begin(); material_it != materials_.end(); material_it++)
bool depth_write = a >= 0.9998;
Ogre::SceneBlendType blending = depth_write ? Ogre::SBT_REPLACE : Ogre::SBT_TRANSPARENT_ALPHA;
bool tinting = new_message->mesh_use_embedded_materials;

for (const Ogre::MaterialPtr& material : materials_)
{
Ogre::Technique* technique = (*material_it)->getTechnique(0);
technique->setAmbient( r*0.5, g*0.5, b*0.5 );
technique->setDiffuse( r, g, b, a );
technique->setSceneBlending( blending );
technique->setDepthWriteEnabled( depth_write );
technique->setLightingEnabled( true );
Ogre::Technique* technique = material->getTechnique(0);
Ogre::Pass* pass0 = technique->getPass(0);
Ogre::Pass* passT = technique->getPass(technique->getNumPasses()-1);
if (tinting)
{
// modify material's original color to use given alpha value
Ogre::ColourValue color = pass0->getDiffuse();
color.a = a;
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we faced a problem in gazebo before in which the mesh's material is also semi-transparent. We ended up just combining the alpha values, e.g. color.a *= a, so the alpha effect is multiplied. Overriding the value is also fine as long as the user knows what to expect

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@iche033, thanks for reviewing.
Multiplying the values is dangerous as multiple updates of the marker's alpha value will continuously decrease the effective alpha value. (We don't have a memory of the original alpha value of the mesh's material.)
To allow to increase the alpha value again, we need to overwrite as proposed.
Hence, the first time the user provides a custom alpha value via the marker's colors, this will take precedence over the mesh's alpha values.

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We don't have a memory of the original alpha value of the mesh's material

I see, I was wondering how subsequent updates are applied. Gazebo stores a copy of the original material and uses that as the base when applying further updates. Anyways, this looks good to me.

pass0->setDiffuse(color);
// tint by re-rendering with marker color
passT->setAmbient( r*0.5f, g*0.5f, b*0.5f );
passT->setDiffuse( r, g, b, std::min(a, 0.5f) );
}
else
{
pass0->setAmbient( r*0.5f, g*0.5f, b*0.5f );
pass0->setDiffuse( r, g, b, a );
}

pass0->setSceneBlending( blending );
pass0->setDepthWriteEnabled( depth_write );
pass0->setLightingEnabled( true );
}

}

Ogre::Vector3 pos, scale;
Expand Down
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