fix configLoader, material struct and feedback

Signed-off-by: Dharini Dutia <[email protected]>
gazebosim · Dec 20, 2023 · 8db08c1 · 8db08c1
1 parent 96dd518
commit 8db08c1
Show file tree

Hide file tree

Showing 6 changed files with 155 additions and 390 deletions.
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -35,9 +35,13 @@ gz_msgs_generate_messages_impl(
   DEPENDENCY_DESCRIPTIONS ${msgs_desc_file}
 )
 
-set(cli_sources
-  gz.cc
-  cmd/ModelCommandAPI.cc
+set(network_sources
+  network/NetworkConfig.cc
+  network/NetworkManager.cc
+  network/NetworkManagerPrimary.cc
+  network/NetworkManagerSecondary.cc
+  network/PeerInfo.cc
+  network/PeerTracker.cc
 )
 
 set(comms_sources
@@ -51,20 +55,16 @@ set(gui_sources
   PARENT_SCOPE
 )
 
+set(cli_sources
+  gz.cc
+  cmd/ModelCommandAPI.cc
+)
+
 set(material_sources
   rendering/MaterialParser/MaterialParser.cc
   rendering/MaterialParser/ConfigLoader.cc
 )
 
-set(network_sources
-  network/NetworkConfig.cc
-  network/NetworkManager.cc
-  network/NetworkManagerPrimary.cc
-  network/NetworkManagerSecondary.cc
-  network/PeerInfo.cc
-  network/PeerTracker.cc
-)
-
 set (sources
   Actor.cc
   Barrier.cc
@@ -94,9 +94,9 @@ set (sources
   Util.cc
   View.cc
   World.cc
+  ${network_sources}
   ${comms_sources}
   ${msgs_sources}
-  ${network_sources}
   ${material_sources}
 )
 

diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
@@ -105,6 +105,9 @@ class gz::sim::SdfEntityCreatorPrivate
   /// \brief Keep track of new visuals being added, so we load their plugins
   /// only after we have their scoped name.
   public: std::map<Entity, sdf::Plugins> newVisuals;
+
+  /// \brief Parse Gazebo defined materials for visuals
+  public: MaterialParser materialParser;
 };
 
 using namespace gz;
@@ -804,15 +807,14 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
       std::string scriptName = visualMaterial.ScriptName();
 
       if((scriptName.find("Gazebo/") != std::string::npos)) {
-        gzwarn << "Using internal gazebo.material to parse " << scriptName
+        gzwarn << "Using an internal gazebo.material to parse " << scriptName
           << std::endl;
-        MaterialParser* materialParser = new MaterialParser();
-        materialParser->Load();
-        std::vector<std::vector<float>> parsed = materialParser->GetMaterialValues(scriptName);
+        this->dataPtr->materialParser.Load();
+        MaterialParser::MaterialValues parsed = this->dataPtr->materialParser.GetMaterialValues(scriptName);
 
-        visualMaterial.SetAmbient(gz::math::Color(parsed[0][0],parsed[0][1], parsed[0][2]));
-        visualMaterial.SetDiffuse(gz::math::Color(parsed[1][0],parsed[1][1], parsed[1][2]));
-        visualMaterial.SetSpecular(gz::math::Color(parsed[2][0],parsed[2][1], parsed[2][2], parsed[2][3]));
+        visualMaterial.SetAmbient(parsed.ambient.value());
+        visualMaterial.SetDiffuse(parsed.diffuse.value());
+        visualMaterial.SetSpecular(parsed.specular.value());
       }
     }
     this->dataPtr->ecm->CreateComponent(visualEntity,

diff --git a/src/rendering/MaterialParser/ConfigLoader.cc b/src/rendering/MaterialParser/ConfigLoader.cc
@@ -147,7 +147,7 @@ void ConfigLoader::_nextToken(std::ifstream & stream)
   }
 
   // Text token
-  if (ch < 32 || ch > 122) { // Verify valid char
+  if (ch < 32 || ch > 122) {  // Verify valid char
     throw std::runtime_error("Parse Error: Invalid character, ConfigLoader::load()");
   }
 
@@ -182,7 +182,7 @@ void ConfigLoader::_nextToken(std::ifstream & stream)
     }
 
     // Add valid char to tokVal
-    tokVal += (char)ch;
+    tokVal += static_cast<char>(ch);
 
     // Next char
     ch = stream.get();
@@ -277,7 +277,7 @@ ConfigNode::ConfigNode(ConfigNode * parent, const std::string & name)
 {
   m_name = name;
   m_parent = parent;
-  _removeSelf = true; // For proper destruction
+  _removeSelf = true;  // For proper destruction
   m_lastChildFound = -1;
 
   // Add self to parent's child list (unless this is the root node being created)
@@ -318,7 +318,7 @@ ConfigNode * ConfigNode::addChild(const std::string & name, bool replaceExisting
 ConfigNode * ConfigNode::findChild(const std::string & name, bool recursive)
 {
   int indx, prevC, nextC;
-  int childCount = (int)m_children.size();
+  int childCount = static_cast<int>(m_children.size());
 
   if (m_lastChildFound != -1) {
     // If possible, try checking the nodes neighboring the last successful search