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Signed-off-by: ahcorde <[email protected]>
gazebosim · Feb 12, 2021 · 19cb831 · 19cb831
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commit 19cb831
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Showing 15 changed files with 7 additions and 81 deletions.
diff --git a/examples/gazebo_scene_viewer/SceneManager.cc b/examples/gazebo_scene_viewer/SceneManager.cc
@@ -1480,19 +1480,6 @@ void SubSceneManager::ProcessCylinder(
 }
 //! [process cylinder]
 
-//////////////////////////////////////////////////
-void SubSceneManager::ProcessEllipsoid(
-    const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
-{
-  GeometryPtr ellipsoid = this->activeScene->CreateEllipsoid();
-  const gazebo::msgs::EllipsoidGeom &ellipsoidMsg = _geometryMsg.ellipsoid();
-  double x = 2 * ellipsoidMsg.radii().X();
-  double y = 2 * ellipsoidMsg.radii().Y();
-  double z = 2 * ellipsoidMsg.radii().Z();
-  _parent->SetLocalScale(x, y, z);
-  _parent->AddGeometry(ellipsoid);
-}
-
 //////////////////////////////////////////////////
 void SubSceneManager::ProcessEmpty(const gazebo::msgs::Geometry&, VisualPtr)
 {

diff --git a/examples/gazebo_scene_viewer/SceneManagerPrivate.hh b/examples/gazebo_scene_viewer/SceneManagerPrivate.hh
@@ -327,9 +327,6 @@ namespace ignition
       protected: virtual void ProcessCylinder(
           const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
 
-      protected: virtual void ProcessEllipsoid(
-          const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
-
       protected: virtual void ProcessEmpty(
           const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
 

diff --git a/examples/simple_demo/GlutWindow.cc b/examples/simple_demo/GlutWindow.cc
@@ -81,7 +81,7 @@ void updateCameras()
     camera->SetLocalPosition(x, y, 0.0);
   }
 
-  g_offset += 0.0005;
+  g_offset += 0.05;
 }
 //! [update camera]
 

diff --git a/examples/simple_demo/Main.cc b/examples/simple_demo/Main.cc
@@ -120,8 +120,8 @@ void buildScene(ScenePtr _scene)
 
   // create ellipsoid visual
   VisualPtr ellipsoidVisual = _scene->CreateVisual();
-  auto ellipsoid = _scene->CreateEllipsoid();
-  ellipsoid->SetRadii(ignition::math::Vector3d(1.2, 0.7, 0.5));
+  auto ellipsoid = _scene->CreateSphere();
+  ellipsoidVisual->SetLocalScale(1.2, 0.7, 0.5);
   ellipsoidVisual->AddGeometry(ellipsoid);
   ellipsoidVisual->SetLocalPosition(3, -1, 0);
   ellipsoidVisual->SetMaterial(green);

diff --git a/include/ignition/rendering/Marker.hh b/include/ignition/rendering/Marker.hh
@@ -65,10 +65,7 @@ namespace ignition
       MT_TRIANGLE_LIST  = 9,
 
       /// \brief Triangle strip primitive
-      MT_TRIANGLE_STRIP = 10,
-
-      /// \brief Ellipsoid geometry
-      MT_ELLIPSOID      = 12,
+      MT_TRIANGLE_STRIP = 10
     };
 
     /// \class Marker Marker.hh ignition/rendering/Marker

diff --git a/include/ignition/rendering/Scene.hh b/include/ignition/rendering/Scene.hh
@@ -864,15 +864,13 @@ namespace ignition
       /// \return The created cylinder
       public: virtual GeometryPtr CreateCylinder() = 0;
 
-      /// \brief Create new ellipsoid geometry
-      /// \return The created ellipsoid
-      public: virtual MeshPtr CreateEllipsoid() = 0;
-
       /// \brief Create new plane geometry
       /// \return The created plane
       public: virtual GeometryPtr CreatePlane() = 0;
 
-      /// \brief Create new sphere geometry
+      /// \brief Create new sphere or ellipsoid geometry
+      /// This method allow to create ellipsoid too, because it can be scaled
+      /// in 3 dimensions.
       /// \return The created sphere
       public: virtual GeometryPtr CreateSphere() = 0;
 

diff --git a/include/ignition/rendering/base/BaseScene.hh b/include/ignition/rendering/base/BaseScene.hh
@@ -397,9 +397,6 @@ namespace ignition
 
       public: virtual GeometryPtr CreateCylinder() override;
 
-      // Documentation inherited.
-      public: virtual MeshPtr CreateEllipsoid() override;
-
       public: virtual GeometryPtr CreatePlane() override;
 
       public: virtual GeometryPtr CreateSphere() override;
@@ -558,13 +555,6 @@ namespace ignition
       protected: virtual GeometryPtr CreateCylinderImpl(unsigned int _id,
                      const std::string &_name) = 0;
 
-     /// \brief Implementation for creating a ellipsoid geometry object
-     /// \param[in] _id unique object id.
-     /// \param[in] _name unique object name.
-     /// \return Pointer to a ellipsoid geometry object
-     protected: virtual MeshPtr CreateEllipsoidImpl(unsigned int _id,
-                    const std::string &_name) = 0;
-
       protected: virtual GeometryPtr CreatePlaneImpl(unsigned int _id,
                      const std::string &_name) = 0;
 

diff --git a/ogre/include/ignition/rendering/ogre/OgreScene.hh b/ogre/include/ignition/rendering/ogre/OgreScene.hh
@@ -127,10 +127,6 @@ namespace ignition
       protected: virtual GeometryPtr CreateCylinderImpl(unsigned int _id,
                      const std::string &_name) override;
 
-      // Documentation inherited
-      protected: virtual MeshPtr CreateEllipsoidImpl(unsigned int _id,
-                     const std::string &_name);
-
       protected: virtual GeometryPtr CreatePlaneImpl(unsigned int _id,
                      const std::string &_name) override;
 

diff --git a/ogre/src/OgreMarker.cc b/ogre/src/OgreMarker.cc
@@ -82,7 +82,6 @@ Ogre::MovableObject *OgreMarker::OgreObject() const
       return nullptr;
     case MT_BOX:
     case MT_CYLINDER:
-    case MT_ELLIPSOID:
     case MT_SPHERE:
       return this->dataPtr->mesh->OgreObject();
     case MT_LINE_STRIP:
@@ -147,7 +146,6 @@ void OgreMarker::SetMaterial(MaterialPtr _material, bool _unique)
       break;
     case MT_BOX:
     case MT_CYLINDER:
-    case MT_ELLIPSOID:
     case MT_SPHERE:
       this->dataPtr->mesh->SetMaterial(derived, false);
       break;
@@ -211,10 +209,6 @@ void OgreMarker::SetType(MarkerType _markerType)
       this->dataPtr->mesh =
         std::dynamic_pointer_cast<OgreMesh>(this->scene->CreateCylinder());
       break;
-    case MT_ELLIPSOID:
-      this->dataPtr->mesh =
-        std::dynamic_pointer_cast<OgreMesh>(this->scene->CreateEllipsoid());
-      break;
     case MT_SPHERE:
       this->dataPtr->mesh =
         std::dynamic_pointer_cast<OgreMesh>(this->scene->CreateSphere());

diff --git a/ogre/src/OgreScene.cc b/ogre/src/OgreScene.cc
@@ -502,13 +502,6 @@ MeshPtr OgreScene::CreateMeshImpl(unsigned int _id, const std::string &_name,
   return this->CreateMeshImpl(_id, _name, descriptor);
 }
 
-//////////////////////////////////////////////////
-MeshPtr OgreScene::CreateEllipsoidImpl(
-  unsigned int _id, const std::string &_name)
-{
-  return this->CreateMeshImpl(_id, _name, "unit_ellipsoid");
-}
-
 //////////////////////////////////////////////////
 MeshPtr OgreScene::CreateMeshImpl(unsigned int _id, const std::string &_name,
     const MeshDescriptor &_desc)

diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2Scene.hh
@@ -168,10 +168,6 @@ namespace ignition
       protected: virtual GeometryPtr CreateCylinderImpl(unsigned int _id,
                      const std::string &_name) override;
 
-      // Documentation inherited
-      protected: virtual MeshPtr CreateEllipsoidImpl(unsigned int _id,
-                     const std::string &_name);
-
       // Documentation inherited
       protected: virtual GeometryPtr CreatePlaneImpl(unsigned int _id,
                      const std::string &_name) override;

diff --git a/ogre2/src/Ogre2Marker.cc b/ogre2/src/Ogre2Marker.cc
@@ -95,7 +95,6 @@ Ogre::MovableObject *Ogre2Marker::OgreObject() const
       return nullptr;
     case MT_BOX:
     case MT_CYLINDER:
-    case MT_ELLIPSOID:
     case MT_SPHERE:
       return this->dataPtr->mesh->OgreObject();
     case MT_LINE_STRIP:
@@ -160,7 +159,6 @@ void Ogre2Marker::SetMaterial(MaterialPtr _material, bool _unique)
       break;
     case MT_BOX:
     case MT_CYLINDER:
-    case MT_ELLIPSOID:
     case MT_SPHERE:
       this->dataPtr->mesh->SetMaterial(derived, false);
       break;
@@ -243,9 +241,6 @@ void Ogre2Marker::SetType(MarkerType _markerType)
     case MT_CYLINDER:
       newMesh = this->scene->CreateCylinder();
       break;
-    case MT_ELLIPSOID:
-      newMesh = this->scene->CreateEllipsoid();
-      break;
     case MT_SPHERE:
       newMesh = this->scene->CreateSphere();
       break;

diff --git a/ogre2/src/Ogre2Scene.cc b/ogre2/src/Ogre2Scene.cc
@@ -371,12 +371,6 @@ MeshPtr Ogre2Scene::CreateMeshImpl(unsigned int _id, const std::string &_name,
   return this->CreateMeshImpl(_id, _name, descriptor);
 }
 
-//////////////////////////////////////////////////
-MeshPtr Ogre2Scene::CreateEllipsoidImpl(unsigned int _id,
-    const std::string &_name)
-{
-  return this->CreateMeshImpl(_id, _name, "unit_ellipsoid");
-}
 //////////////////////////////////////////////////
 MeshPtr Ogre2Scene::CreateMeshImpl(unsigned int _id,
     const std::string &_name, const MeshDescriptor &_desc)

diff --git a/src/Marker_TEST.cc b/src/Marker_TEST.cc
@@ -81,9 +81,6 @@ void MarkerTest::Marker(const std::string &_renderEngine)
   marker->SetType(MarkerType::MT_NONE);
   EXPECT_EQ(MarkerType::MT_NONE, marker->Type());
 
-  marker->SetType(MarkerType::MT_ELLIPSOID);
-  EXPECT_EQ(MarkerType::MT_ELLIPSOID, marker->Type());
-
   marker->SetType(MarkerType::MT_POINTS);
   EXPECT_EQ(MarkerType::MT_POINTS, marker->Type());
 

diff --git a/src/base/BaseScene.cc b/src/base/BaseScene.cc
@@ -1009,14 +1009,6 @@ GeometryPtr BaseScene::CreatePlane()
   return this->CreatePlaneImpl(objId, objName);
 }
 
-//////////////////////////////////////////////////
-MeshPtr BaseScene::CreateEllipsoid()
-{
-  unsigned int objId = this->CreateObjectId();
-  std::string objName = this->CreateObjectName(objId, "Ellipsoid");
-  return this->CreateEllipsoidImpl(objId, objName);
-}
-
 //////////////////////////////////////////////////
 GeometryPtr BaseScene::CreateSphere()
 {