[Personalrobots-commit] SF.net SVN: personalrobots:[5927] pkg/trunk

[<jfa...@us...>]

Revision: 5927
          http://personalrobots.svn.sourceforge.net/personalrobots/?rev=5927&view=rev
Author:   jfaustwg
Date:     2008-10-29 18:34:25 +0000 (Wed, 29 Oct 2008)

Log Message:
-----------
 r11053@lan-dhcp-121:  jfaust | 2008-10-29 11:17:23 -0700
 Add alpha to the map

Modified Paths:
--------------
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp
    pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h

Property Changed:
----------------
    pkg/trunk/


Property changes on: pkg/trunk
___________________________________________________________________
Modified: svk:merge
   - 920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11046
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261
   + 920d6130-5740-4ec1-bb1a-45963d5fd813:/frameidpr:7015
920d6130-5740-4ec1-bb1a-45963d5fd813:/users/josh-pr:11053
920d6130-5740-4ec1-bb1a-45963d5fd813:/wgpkgtrunk:5865
f5854215-dd47-0410-b2c4-cdd35faa7885:/pkg/branches/rosbus:261

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp	2008-10-29 18:33:53 UTC (rev 5926)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.cpp	2008-10-29 18:34:25 UTC (rev 5927)
@@ -58,7 +58,12 @@
 , resolution_( 0.0f )
 , width_( 0.0f )
 , height_( 0.0f )
+, load_timer_( 2.0f )
 , service_property_( NULL )
+, resolution_property_( NULL )
+, width_property_( NULL )
+, height_property_( NULL )
+, alpha_property_( NULL )
 {
   scene_node_ = scene_manager_->getRootSceneNode()->createChildSceneNode();
 
@@ -70,6 +75,8 @@
   material_->getTechnique(0)->setLightingEnabled(false);
   material_->setDepthBias( -16.0f, 0.0f );
   material_->setCullingMode( Ogre::CULL_NONE );
+
+  setAlpha( 0.7f );
 }
 
 MapVisualizer::~MapVisualizer()
@@ -87,6 +94,38 @@
   clear();
 }
 
+void MapVisualizer::setAlpha( float alpha )
+{
+  alpha_ = alpha;
+
+  Ogre::Pass* pass = material_->getTechnique(0)->getPass(0);
+  Ogre::TextureUnitState* tex_unit = NULL;
+  if (pass->getNumTextureUnitStates() > 0)
+  {
+    tex_unit = pass->getTextureUnitState(0);
+  }
+  else
+  {
+    tex_unit = pass->createTextureUnitState();
+  }
+
+  tex_unit->setAlphaOperation( Ogre::LBX_SOURCE1, Ogre::LBS_MANUAL, Ogre::LBS_CURRENT, alpha_ );
+
+  if ( alpha_ < 0.9998 )
+  {
+    material_->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
+  }
+  else
+  {
+    material_->setSceneBlending( Ogre::SBT_REPLACE );
+  }
+
+  if ( alpha_property_ )
+  {
+    alpha_property_->changed();
+  }
+}
+
 void MapVisualizer::setService( const std::string& service )
 {
   service_ = service;
@@ -112,6 +151,7 @@
   texture_.setNull();
   Ogre::TextureManager::getSingleton().unload( tex_name );
 
+  load_timer_ = 2.0f;
   loaded_ = false;
 }
 
@@ -161,6 +201,7 @@
       pixels[pidx+0] = val;
       pixels[pidx+1] = val;
       pixels[pidx+2] = val;
+      //pixels[pidx+3] = 1.0f;
     }
   }
 
@@ -281,16 +322,14 @@
 
 void MapVisualizer::update( float dt )
 {
-  static float timer = 0.0f;
-
   if ( !loaded_ )
   {
-    timer -= dt;
+    load_timer_ += dt;
 
-    if ( timer < 0.0f )
+    if ( load_timer_ > 2.0f )
     {
       load();
-      timer = 2.0f;
+      load_timer_ = 0.0f;
     }
   }
 }
@@ -300,6 +339,9 @@
   service_property_ = property_manager_->createProperty<StringProperty>( "Service", property_prefix_, boost::bind( &MapVisualizer::getService, this ),
                                                                          boost::bind( &MapVisualizer::setService, this, _1 ), parent_category_, this );
 
+  alpha_property_ = property_manager_->createProperty<FloatProperty>( "Alpha", property_prefix_, boost::bind( &MapVisualizer::getAlpha, this ),
+                                                                      boost::bind( &MapVisualizer::setAlpha, this, _1 ), parent_category_, this );
+
   resolution_property_ = property_manager_->createProperty<FloatProperty>( "Resolution", property_prefix_, boost::bind( &MapVisualizer::getResolution, this ),
                                                                             FloatProperty::Setter(), parent_category_, this );
   width_property_ = property_manager_->createProperty<FloatProperty>( "Width", property_prefix_, boost::bind( &MapVisualizer::getWidth, this ),

Modified: pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h
===================================================================
--- pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h	2008-10-29 18:33:53 UTC (rev 5926)
+++ pkg/trunk/visualization/ogre_visualizer/src/ogre_visualizer/visualizers/map_visualizer.h	2008-10-29 18:34:25 UTC (rev 5927)
@@ -65,6 +65,9 @@
   float getWidth() { return width_; }
   float getHeight() { return height_; }
 
+  float getAlpha() { return alpha_; }
+  void setAlpha( float alpha );
+
   // Overrides from VisualizerBase
   virtual void targetFrameChanged() {}
   virtual void fixedFrameChanged();
@@ -95,10 +98,15 @@
   float width_;
   float height_;
 
+  float load_timer_;
+
+  float alpha_;
+
   StringProperty* service_property_;
   FloatProperty* resolution_property_;
   FloatProperty* width_property_;
   FloatProperty* height_property_;
+  FloatProperty* alpha_property_;
 };
 
 } // namespace ogre_vis


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