get color values

Signed-off-by: Dharini Dutia <[email protected]>

src/rendering/MaterialParser/ConfigLoader.cc

@@ -23,7 +23,9 @@
 #include <utility>
 #include <vector>
 
+#include <gz/common/Console.hh>
 #include <gz/common/Filesystem.hh>
+#include <gz/math/Color.hh>
 #include "gz/sim/InstallationDirectories.hh"
 
 #include "ConfigLoader.hh"
@@ -305,6 +307,25 @@ ConfigNode::~ConfigNode()
   }
 }
 
+void ConfigNode::getColorValues(gz::math::Color & colorValues,
+  unsigned int size)
+{
+  std::vector<float> floatValues;
+  ConfigNode::getValuesInFloat(floatValues);
+  if (floatValues.size() < size) {
+    gzerr << "Bad material file." << std::endl;
+    floatValues.resize(size);
+  }
+  if (size == 3) {
+    colorValues = gz::math::Color(floatValues[0], floatValues[1],
+                  floatValues[2]);
+  }
+  if (size == 4) {
+    colorValues = gz::math::Color(floatValues[0], floatValues[1],
+                  floatValues[2], floatValues[3]);
+  }
+}
+
 ConfigNode * ConfigNode::addChild(
   const std::string & name, bool replaceExisting)
 {

src/rendering/MaterialParser/ConfigLoader.hh

@@ -25,8 +25,6 @@
 #include <string>
 #include <vector>
 
-#include <gz/common/Console.hh>
-
 namespace gz
 {
 namespace sim
@@ -115,28 +113,20 @@ public:
     return m_values;
   }
 
-  inline void getValuesInFloat(std::vector<float> & floatValues)
+  inline const std::string & getValue(unsigned int index = 0)
   {
-    for (const auto & str : m_values) {
-      floatValues.push_back(std::stof(str));
-    }
+    assert(index < m_values.size());
+    return m_values[index];
   }
 
-  inline void getColorValues(std::vector<float> & colorValues,
-                             unsigned int size)
+  inline void getValuesInFloat(std::vector<float> & floatValues)
   {
-    getValuesInFloat(colorValues);
-    if (colorValues.size() < size) {
-      gzerr << "Bad material file." << std::endl;
-      colorValues.resize(size);
+    for (const auto & str : m_values) {
+      floatValues.push_back(std::stof(str));
     }
   }
 
-  inline const std::string & getValue(unsigned int index = 0)
-  {
-    assert(index < m_values.size());
-    return m_values[index];
-  }
+  void getColorValues(math::Color & colorValues, unsigned int size);
 
   ConfigNode * addChild(
     const std::string & name = "untitled", bool replaceExisting = false);

src/rendering/MaterialParser/MaterialParser.cc

@@ -62,28 +62,25 @@ std::optional<MaterialParser::MaterialValues> MaterialParser::GetMaterialValues(
         if (passNode) {
           ConfigNode * ambientNode = passNode->findChild("ambient");
           if (ambientNode) {
-            std::vector<float> ambientValues;
+            gz::math::Color ambientValues;
             ambientNode->getColorValues(ambientValues, 3);
-            values->ambient.emplace(gz::math::Color(ambientValues[0],
-              ambientValues[1], ambientValues[2]));
+            values->ambient.emplace(ambientValues);
           }
 
           ConfigNode * diffuseNode = passNode->findChild("diffuse");
           if (diffuseNode) {
-            std::vector<float> diffuseValues;
+            gz::math::Color diffuseValues;
             diffuseNode->getColorValues(diffuseValues, 3);
-            values->diffuse.emplace(gz::math::Color(diffuseValues[0],
-              diffuseValues[1], diffuseValues[2]));
+            values->diffuse.emplace(diffuseValues);
           }
 
           ConfigNode * specularNode = passNode->findChild("specular");
           if (specularNode) {
-            std::vector<float> specularValues;
+            gz::math::Color specularValues;
             specularNode->getColorValues(specularValues, 4);
             // Using first four values for specular as
             // Gazebo doesn't support shininess
-            values->specular.emplace(gz::math::Color(specularValues[0],
-              specularValues[1], specularValues[2], specularValues[3]));
+            values->specular.emplace(specularValues);
           }
         }
       }