From 14f6cd5b474bf3e0b2fc82d4202d4e14f062c6a5 Mon Sep 17 00:00:00 2001
From: ahcorde <ahcorde@gmail.com>
Date: Wed, 28 Apr 2021 20:49:46 +0200
Subject: [PATCH] Support Capsule and Ellipsoid in Scene3D

Signed-off-by: ahcorde <ahcorde@gmail.com>
---
 src/plugins/scene3d/Scene3D.cc | 16 ++++++++++++++++
 1 file changed, 16 insertions(+)

diff --git a/src/plugins/scene3d/Scene3D.cc b/src/plugins/scene3d/Scene3D.cc
index b9900f4bc..7610ef3b1 100644
--- a/src/plugins/scene3d/Scene3D.cc
+++ b/src/plugins/scene3d/Scene3D.cc
@@ -29,6 +29,8 @@
 #include <ignition/plugin/Register.hh>
 #include <ignition/common/MeshManager.hh>
 
+#include <ignition/rendering/Capsule.hh>
+
 #include <ignition/math/Vector2.hh>
 #include <ignition/math/Vector3.hh>
 
@@ -681,6 +683,20 @@ rendering::GeometryPtr SceneManager::LoadGeometry(const msgs::Geometry &_msg,
     scale.Y() = scale.X();
     scale.Z() = _msg.cylinder().length();
   }
+  else if (_msg.has_capsule())
+  {
+    auto capsule = this->scene->CreateCapsule();
+    capsule->SetRadius(_msg.capsule().radius());
+    capsule->SetLength(_msg.capsule().length());
+    geom = capsule;
+  }
+  else if (_msg.has_ellipsoid())
+  {
+    geom = this->scene->CreateSphere();
+    scale.X() = _msg.ellipsoid().radii().x() * 2;
+    scale.Y() = _msg.ellipsoid().radii().y() * 2;
+    scale.Z() = _msg.ellipsoid().radii().z() * 2;
+  }
   else if (_msg.has_plane())
   {
     geom = this->scene->CreatePlane();