Merged in visual_dom_transparency (pull request gazebosim#671)

Add Transparency to visual DOM Approved-by: Louise Poubel <lupoubel@hotmail.com> Approved-by: Steve Peters <scpeters@osrfoundation.org>
kjeppesen1 · Mar 7, 2020 · 976dbbd · 976dbbd
2 parents 33d3186 + 23fabb1
commit 976dbbd
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diff --git a/Changelog.md b/Changelog.md
@@ -2,6 +2,9 @@
 
 ### SDFormat 8.X.X (201X-XX-XX)
 
+1. Add Transparency to visual DOM
+    * [Pull request 671](https://bitbucket.org/osrf/sdformat/pull-requests/671)
+
 1. Install the Windows `.dll` shared libraries to bin folder.
     * [Pull request 659](https://bitbucket.org/osrf/sdformat/pull-requests/659)
     * [Pull request 663](https://bitbucket.org/osrf/sdformat/pull-requests/663)

diff --git a/include/sdf/Visual.hh b/include/sdf/Visual.hh
@@ -91,6 +91,14 @@ namespace sdf
     /// \param[in] _castShadows True to cast shadows, false to not cast shadows
     public: void SetCastShadows(bool _castShadows);
 
+    /// \brief Get the transparency value of the visual
+    /// \return Transparency value
+    public: float Transparency() const;
+
+    /// \brief Set the transparency value for the visual
+    /// \param[in] _transparency Transparency value between 0 and 1
+    public: void SetTransparency(float _transparency);
+
     /// \brief Get a pointer to the visual's geometry.
     /// \return The visual's geometry.
     public: const Geometry *Geom() const;

diff --git a/src/Visual.cc b/src/Visual.cc
@@ -42,6 +42,9 @@ class sdf::VisualPrivate
   /// \brief Whether the visual casts shadows
   public: bool castShadows = true;
 
+  /// \brief Transparency value between 0 and 1
+  public: float transparency  = 0.0;
+
   /// \brief Pose of the collision object
   public: ignition::math::Pose3d pose = ignition::math::Pose3d::Zero;
 
@@ -62,6 +65,7 @@ class sdf::VisualPrivate
 VisualPrivate::VisualPrivate(const VisualPrivate &_visualPrivate)
     : name(_visualPrivate.name),
       castShadows(_visualPrivate.castShadows),
+      transparency(_visualPrivate.transparency),
       pose(_visualPrivate.pose),
       poseFrame(_visualPrivate.poseFrame),
       geom(_visualPrivate.geom),
@@ -142,6 +146,12 @@ Errors Visual::Load(ElementPtr _sdf)
         this->dataPtr->castShadows).first;
   }
 
+  // load transparency
+  if (_sdf->HasElement("transparency"))
+  {
+    this->dataPtr->transparency = _sdf->Get<float>("transparency");
+  }
+
   if (_sdf->HasElement("material"))
   {
     this->dataPtr->material.reset(new sdf::Material());
@@ -183,6 +193,18 @@ void Visual::SetCastShadows(bool _castShadows)
   this->dataPtr->castShadows = _castShadows;
 }
 
+/////////////////////////////////////////////////
+float Visual::Transparency() const
+{
+  return this->dataPtr->transparency;
+}
+
+/////////////////////////////////////////////////
+void Visual::SetTransparency(float _transparency)
+{
+  this->dataPtr->transparency = _transparency;
+}
+
 /////////////////////////////////////////////////
 const ignition::math::Pose3d &Visual::Pose() const
 {

diff --git a/src/Visual_TEST.cc b/src/Visual_TEST.cc
@@ -32,6 +32,12 @@ TEST(DOMVisual, Construction)
   visual.SetCastShadows(false);
   EXPECT_FALSE(visual.CastShadows());
 
+  // check default transparency is 0
+  EXPECT_FLOAT_EQ(0.0, visual.Transparency());
+
+  visual.SetTransparency(0.34f);
+  EXPECT_FLOAT_EQ(0.34f, visual.Transparency());
+
   EXPECT_EQ(ignition::math::Pose3d::Zero, visual.Pose());
   EXPECT_TRUE(visual.PoseFrame().empty());
 
@@ -58,6 +64,7 @@ TEST(DOMVisual, CopyConstructor)
   sdf::Visual visual;
   visual.SetName("test_visual");
   visual.SetCastShadows(false);
+  visual.SetTransparency(0.345f);
   visual.SetPose({0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2});
 
   visual.SetPoseFrame("link");
@@ -70,6 +77,7 @@ TEST(DOMVisual, CopyConstructor)
 
   EXPECT_EQ("test_visual", visual.Name());
   EXPECT_FALSE(visual.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual.Pose());
   EXPECT_EQ("link", visual.PoseFrame());
@@ -78,6 +86,7 @@ TEST(DOMVisual, CopyConstructor)
 
   EXPECT_EQ("test_visual", visual2.Name());
   EXPECT_FALSE(visual2.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual2.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual2.Pose());
   EXPECT_EQ("link", visual2.PoseFrame());
@@ -91,6 +100,7 @@ TEST(DOMVisual, CopyAssignmentOperator)
   sdf::Visual visual;
   visual.SetName("test_visual");
   visual.SetCastShadows(false);
+  visual.SetTransparency(0.345f);
   visual.SetPose({0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2});
 
   visual.SetPoseFrame("link");
@@ -104,6 +114,7 @@ TEST(DOMVisual, CopyAssignmentOperator)
 
   EXPECT_EQ("test_visual", visual.Name());
   EXPECT_FALSE(visual.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual.Pose());
   EXPECT_EQ("link", visual.PoseFrame());
@@ -112,6 +123,7 @@ TEST(DOMVisual, CopyAssignmentOperator)
 
   EXPECT_EQ("test_visual", visual2.Name());
   EXPECT_FALSE(visual2.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual2.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual2.Pose());
   EXPECT_EQ("link", visual2.PoseFrame());
@@ -125,6 +137,7 @@ TEST(DOMVisual, MoveConstructor)
   sdf::Visual visual;
   visual.SetName("test_visual");
   visual.SetCastShadows(false);
+  visual.SetTransparency(0.345f);
   visual.SetPose({0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2});
 
   visual.SetPoseFrame("link");
@@ -137,6 +150,7 @@ TEST(DOMVisual, MoveConstructor)
 
   EXPECT_EQ("test_visual", visual2.Name());
   EXPECT_FALSE(visual2.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual2.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual2.Pose());
   EXPECT_EQ("link", visual2.PoseFrame());
@@ -150,6 +164,7 @@ TEST(DOMVisual, MoveAssignmentOperator)
   sdf::Visual visual;
   visual.SetName("test_visual");
   visual.SetCastShadows(false);
+  visual.SetTransparency(0.345f);
   visual.SetPose({0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2});
 
   visual.SetPoseFrame("link");
@@ -163,6 +178,7 @@ TEST(DOMVisual, MoveAssignmentOperator)
 
   EXPECT_EQ("test_visual", visual2.Name());
   EXPECT_FALSE(visual2.CastShadows());
+  EXPECT_FLOAT_EQ(0.345f, visual2.Transparency());
   EXPECT_EQ(ignition::math::Pose3d(0, -20, 30, IGN_PI_2, -IGN_PI, IGN_PI_2),
             visual2.Pose());
   EXPECT_EQ("link", visual2.PoseFrame());

diff --git a/test/integration/visual_dom.cc b/test/integration/visual_dom.cc
@@ -174,3 +174,26 @@ TEST(DOMVisual, MaterialScriptNormalMapMissing)
   EXPECT_NE(std::string::npos,
       errors[0].Message().find("but a normal_map has not."));
 }
+
+//////////////////////////////////////////////////
+TEST(DOMVisual, Transparency)
+{
+  const std::string testFile =
+    sdf::filesystem::append(PROJECT_SOURCE_PATH, "test", "sdf",
+        "shapes.sdf");
+
+  // Load the SDF file
+  sdf::Root root;
+  EXPECT_TRUE(root.Load(testFile).empty());
+
+  const sdf::Model *model = root.ModelByIndex(0);
+  ASSERT_NE(nullptr, model);
+
+  const sdf::Link *link = model->LinkByIndex(0);
+  ASSERT_NE(nullptr, link);
+
+  const sdf::Visual *vis1 = link->VisualByName("sphere_vis_transparency");
+  ASSERT_NE(nullptr, vis1);
+
+  EXPECT_FLOAT_EQ(0.22f, vis1->Transparency());
+}
diff --git a/test/sdf/shapes.sdf b/test/sdf/shapes.sdf
@@ -96,6 +96,15 @@
         </geometry>
       </visual>
 
+      <visual name="sphere_vis_transparency">
+        <transparency>0.22</transparency>
+        <geometry>
+          <sphere>
+            <radius>0.5</radius>
+          </sphere>
+        </geometry>
+      </visual>
+
     </link>
   </model>
 </sdf>