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Merge branch 'ign-rendering5' into lidar_near_clip
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‎.github/ci/packages.apt

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Original file line numberDiff line numberDiff line change
@@ -2,7 +2,7 @@ freeglut3-dev
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libfreeimage-dev
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libglew-dev
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libignition-cmake2-dev
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libignition-common3-dev
5+
libignition-common4-dev
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libignition-math6-dev
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libignition-plugin-dev
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libogre-1.9-dev

‎CMakeLists.txt

+6-4
Original file line numberDiff line numberDiff line change
@@ -3,13 +3,14 @@ cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
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#============================================================================
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# Initialize the project
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#============================================================================
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project(ignition-rendering4 VERSION 4.8.0)
6+
project(ignition-rendering5 VERSION 5.1.0)
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88
#============================================================================
99
# Find ignition-cmake
1010
#============================================================================
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# If you get an error at this line, you need to install ignition-cmake
12-
find_package(ignition-cmake2 2.8.0 REQUIRED)
12+
find_package(ignition-cmake2 2.3 REQUIRED)
13+
set(IGN_CMAKE_VER ${ignition-cmake2_VERSION_MAJOR})
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#============================================================================
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# Set up the project
@@ -33,8 +34,9 @@ set(IGN_MATH_VER ${ignition-math6_VERSION_MAJOR})
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#--------------------------------------
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# Find ignition-common
36-
ign_find_package(ignition-common3 REQUIRED COMPONENTS graphics events)
37-
set(IGN_COMMON_VER ${ignition-common3_VERSION_MAJOR})
37+
ign_find_package(ignition-common4 REQUIRED
38+
COMPONENTS graphics events)
39+
set(IGN_COMMON_VER ${ignition-common4_VERSION_MAJOR})
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#--------------------------------------
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# Find ignition-plugin

‎Changelog.md

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Original file line numberDiff line numberDiff line change
@@ -1,5 +1,138 @@
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## Ignition Rendering
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### Ignition Rendering 5.X
4+
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### Ignition Rendering 5.X.X (20XX-XX-XX)
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### Ignition Rendering 5.1.0 (2021-06-22)
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9+
1. add ifdef for apple in integration test
10+
* [Pull request #349](https://github.com/ignitionrobotics/ign-rendering/pull/349)
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12+
1. Update light map tutorial
13+
* [Pull request #346](https://github.com/ignitionrobotics/ign-rendering/pull/346)
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1. relax gaussian test tolerance
16+
* [Pull request #344](https://github.com/ignitionrobotics/ign-rendering/pull/344)
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18+
1. Fix custom shaders uniforms ign version number
19+
* [Pull request #343](https://github.com/ignitionrobotics/ign-rendering/pull/343)
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1. recreate node only when needed
22+
* [Pull request #342](https://github.com/ignitionrobotics/ign-rendering/pull/342)
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1. Backport memory fixes found by ASAN
25+
* [Pull request #340](https://github.com/ignitionrobotics/ign-rendering/pull/340)
26+
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1. Fix FSAA in UI and lower VRAM consumption
28+
* [Pull request #313](https://github.com/ignitionrobotics/ign-rendering/pull/313)
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1. Fix depth alpha
31+
* [Pull request #316](https://github.com/ignitionrobotics/ign-rendering/pull/316)
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1. Fix floating point precision bug handling alpha channel (#332)
34+
* [Pull request #333](https://github.com/ignitionrobotics/ign-rendering/pull/333)
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1. Fix heap overflow when reading
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* [Pull request #337](https://github.com/ignitionrobotics/ign-rendering/pull/337)
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1. Fix new [] / delete mismatch
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* [Pull request #338](https://github.com/ignitionrobotics/ign-rendering/pull/338)
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1. Test re-enabling depth camera integration test on mac
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* [Pull request #335](https://github.com/ignitionrobotics/ign-rendering/pull/335)
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1. Include MoveTo Helper class to ign-rendering
46+
* [Pull request #311](https://github.com/ignitionrobotics/ign-rendering/pull/311)
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1. Remove `tools/code_check` and update codecov
49+
* [Pull request #321](https://github.com/ignitionrobotics/ign-rendering/pull/321)
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1. [OGRE 1.x] Uniform buffer shader support
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* [Pull request #294](https://github.com/ignitionrobotics/ign-rendering/pull/294)
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1. Helper function to get a scene
55+
* [Pull request #320](https://github.com/ignitionrobotics/ign-rendering/pull/320)
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1. fix capsule mouse picking
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* [Pull request #319](https://github.com/ignitionrobotics/ign-rendering/pull/319)
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1. Fix depth alpha
61+
* [Pull request #316](https://github.com/ignitionrobotics/ign-rendering/pull/316)
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1. Add shadows to Ogre2DepthCamera without crashing
64+
* [Pull request #303](https://github.com/ignitionrobotics/ign-rendering/pull/303)
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1. Reduce lidar data discretization
67+
* [Pull request #296](https://github.com/ignitionrobotics/ign-rendering/pull/296)
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1. update light visual size
70+
* [Pull request #306](https://github.com/ignitionrobotics/ign-rendering/pull/306)
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1. Improve build times by reducing included headers
73+
* [Pull request #299](https://github.com/ignitionrobotics/ign-rendering/pull/299)
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1. Add light map tutorial
76+
* [Pull request #302](https://github.com/ignitionrobotics/ign-rendering/pull/302)
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1. Prevent console warnings when multiple texture coordinates are present
79+
* [Pull request #301](https://github.com/ignitionrobotics/ign-rendering/pull/301)
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1. Fix gazebo scene viewer build
82+
* [Pull request #289](https://github.com/ignitionrobotics/ign-rendering/pull/289)
83+
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1. Silence noisy sky error
85+
* [Pull request #282](https://github.com/ignitionrobotics/ign-rendering/pull/282)
86+
87+
1. Added command line argument to pick version of Ogre
88+
* [Pull request #277](https://github.com/ignitionrobotics/ign-rendering/pull/277)
89+
90+
### Ignition Rendering 5.0.0 (2021-03-30)
91+
92+
1. Add ogre2 skybox support
93+
* [Pull request #168](https://github.com/ignitionrobotics/ign-rendering/pull/168)
94+
95+
1. Add light visual support
96+
* [Pull request #202](https://github.com/ignitionrobotics/ign-rendering/pull/202)
97+
* [Pull request #228](https://github.com/ignitionrobotics/ign-rendering/pull/228)
98+
99+
1. Add API for particle emitter scatter ratio
100+
* [Pull request #275](https://github.com/ignitionrobotics/ign-rendering/pull/275)
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102+
1. Added capsule geometry
103+
* [Pull request #200](https://github.com/ignitionrobotics/ign-rendering/pull/200)
104+
* [Pull request #278](https://github.com/ignitionrobotics/ign-rendering/pull/278)
105+
106+
1. Added ellipsoid Geometry
107+
* [Pull request #203](https://github.com/ignitionrobotics/ign-rendering/pull/203)
108+
109+
1. ogre2: explicitly request OpenGL 3.3 core profile context.
110+
* [Pull request #244](https://github.com/ignitionrobotics/ign-rendering/pull/244)
111+
112+
1. Bump in edifice: ign-common4
113+
* [Pull request #209](https://github.com/ignitionrobotics/ign-rendering/pull/209)
114+
115+
1. Support setting horizontal and vertical resolution for GpuRays
116+
* [Pull request #229](https://github.com/ignitionrobotics/ign-rendering/pull/229)
117+
118+
1. Added Light Intensity
119+
* [Pull request #233](https://github.com/ignitionrobotics/ign-rendering/pull/233)
120+
* [Pull request #284](https://github.com/ignitionrobotics/ign-rendering/pull/284)
121+
122+
1. Heightmap for Ogre 1
123+
* [Pull request #180](https://github.com/ignitionrobotics/ign-rendering/pull/180)
124+
125+
1. Added render order to material
126+
* [Pull request #188](https://github.com/ignitionrobotics/ign-rendering/pull/188)
127+
128+
1. Add support for lightmaps in ogre2
129+
* [Pull request #182](https://github.com/ignitionrobotics/ign-rendering/pull/182)
130+
131+
1. Documentation updates
132+
* [Pull request #288](https://github.com/ignitionrobotics/ign-rendering/pull/288)
133+
* [Pull request #287](https://github.com/ignitionrobotics/ign-rendering/pull/287)
134+
* [Pull request #286](https://github.com/ignitionrobotics/ign-rendering/pull/286)
135+
3136
### Ignition Rendering 4.X
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### Ignition Rendering 4.8.0 (2021-06-18)

‎README.md

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@@ -9,10 +9,10 @@
99

1010
Build | Status
1111
-- | --
12-
Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/ign-rendering4/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
13-
Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering4-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering4-bionic-amd64)
14-
Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-ign-rendering4-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-ign-rendering4-homebrew-amd64)
15-
Windows | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ign-4-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ign-4-win/)
12+
Test coverage | [![codecov](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/main/graph/badge.svg)](https://codecov.io/gh/ignitionrobotics/ign-rendering/branch/default)
13+
Ubuntu Bionic | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-bionic-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-bionic-amd64)
14+
Homebrew | [![Build Status](https://build.osrfoundation.org/buildStatus/icon?job=ignition_rendering-ci-main-homebrew-amd64)](https://build.osrfoundation.org/job/ignition_rendering-ci-main-homebrew-amd64)
15+
Windows | [![Build Status](https://build.osrfoundation.org/job/ign_rendering-ci-win/badge/icon)](https://build.osrfoundation.org/job/ign_rendering-ci-win/)
1616

1717
Ignition Rendering is a C++ library designed to provide an abstraction
1818
for different rendering engines. It offers unified APIs for creating
@@ -47,12 +47,12 @@ of libraries designed to rapidly develop robot applications.
4747

4848
# Install
4949

50-
See the [installation tutorial](https://ignitionrobotics.org/api/rendering/4.0/installation.html).
50+
See the [installation tutorial](https://ignitionrobotics.org/api/rendering/5.0/installation.html).
5151

5252
# Usage
5353

5454
The Ign Rendering API can be found in the documentation. See the
55-
[installation tutorial](https://ignitionrobotics.org/api/rendering/4.0/installation.html)
55+
[installation tutorial](https://ignitionrobotics.org/api/rendering/5.0/installation.html)
5656
on how to build the documentation files using Doxygen.
5757

5858
You can also take a look at the sample applications in the `examples` folder.

‎bitbucket-pipelines.yml

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@@ -20,12 +20,12 @@ pipelines:
2020
libignition-cmake2-dev
2121
libignition-math6-dev
2222
libignition-plugin-dev
23-
# libignition-common3-dev
23+
# libignition-common4-dev
2424
# Ignition common (uncomment if a specific branch is needed)
2525
- apt-get -y install
2626
libavcodec-dev libavdevice-dev libavformat-dev libavutil-dev
2727
libfreeimage-dev libgts-dev libswscale-dev libtinyxml2-dev
28-
- git clone http://github.com/ignitionrobotics/ign-common -b ign-common3
28+
- git clone http://github.com/ignitionrobotics/ign-common -b main
2929
- cd ign-common
3030
- mkdir build
3131
- cd build

‎examples/actor_animation/CMakeLists.txt

+1-1
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@@ -1,6 +1,6 @@
11
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
22
project(ignition-rendering-actor-animation)
3-
find_package(ignition-rendering4 REQUIRED)
3+
find_package(ignition-rendering5 REQUIRED)
44

55
include_directories(SYSTEM
66
${PROJECT_BINARY_DIR}

‎examples/camera_tracking/CMakeLists.txt

+1-1
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@@ -1,6 +1,6 @@
11
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
22
project(ignition-rendering-camera-tracking)
3-
find_package(ignition-rendering4 REQUIRED)
3+
find_package(ignition-rendering5 REQUIRED)
44

55
find_package(GLUT REQUIRED)
66
include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

‎examples/custom_scene_viewer/CMakeLists.txt

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@@ -1,6 +1,6 @@
11
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
22
project(ignition-rendering-custom-scene-viewer)
3-
find_package(ignition-rendering4 REQUIRED)
3+
find_package(ignition-rendering5 REQUIRED)
44

55
include_directories(SYSTEM
66
${PROJECT_BINARY_DIR}

‎examples/custom_shaders/CMakeLists.txt

+1-1
Original file line numberDiff line numberDiff line change
@@ -5,7 +5,7 @@ include_directories(SYSTEM
55
${PROJECT_BINARY_DIR}
66
)
77

8-
find_package(ignition-rendering4 REQUIRED)
8+
find_package(ignition-rendering5 REQUIRED)
99

1010
find_package(GLUT REQUIRED)
1111
include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})

‎examples/custom_shaders_uniforms/CMakeLists.txt

+1-1
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@@ -5,7 +5,7 @@ include_directories(SYSTEM
55
${PROJECT_BINARY_DIR}
66
)
77

8-
find_package(ignition-rendering4)
8+
find_package(ignition-rendering5)
99

1010
set(TARGET_THIRD_PARTY_DEPENDS "")
1111

‎examples/gazebo_scene_viewer/CMakeLists.txt

+1-1
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@@ -1,6 +1,6 @@
11
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
22
project(ignition-rendering-gazebo-scene-viewer)
3-
find_package(ignition-rendering4 REQUIRED)
3+
find_package(ignition-rendering5 REQUIRED)
44
find_package(gazebo REQUIRED)
55

66
include_directories(SYSTEM ${GAZEBO_INCLUDE_DIRS})

‎examples/gazebo_scene_viewer/CameraWindow.cc

+3-2
Original file line numberDiff line numberDiff line change
@@ -14,7 +14,6 @@
1414
* limitations under the License.
1515
*
1616
*/
17-
#include "CameraWindow.hh"
1817

1918
#if __APPLE__
2019
#include <OpenGL/gl.h>
@@ -28,6 +27,7 @@
2827

2928
#if !defined(__APPLE__) && !defined(_WIN32)
3029
#include <GL/glx.h>
30+
#undef Status
3131
#endif
3232

3333
#include <gazebo/common/Console.hh>
@@ -37,6 +37,7 @@
3737
#include <ignition/rendering/Image.hh>
3838
#include <ignition/rendering/Scene.hh>
3939

40+
#include "CameraWindow.hh"
4041
#include "SceneManager.hh"
4142

4243
#define KEY_ESC 27
@@ -166,7 +167,7 @@ void GlutKeyboard(unsigned char _key, int, int)
166167
{
167168
// stop transport
168169
gazebo::transport::stop();
169-
gazebo::transport::fini();
170+
gazebo::transport::fini();
170171
exit(0);
171172
}
172173
else if (_key == KEY_TAB)

‎examples/gazebo_scene_viewer/SceneManager.cc

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Original file line numberDiff line numberDiff line change
@@ -22,6 +22,7 @@
2222
#include <ignition/math/Helpers.hh>
2323

2424
#include <ignition/rendering/Camera.hh>
25+
#include <ignition/rendering/Capsule.hh>
2526
#include <ignition/rendering/Scene.hh>
2627
#include <ignition/rendering/Visual.hh>
2728

@@ -1505,6 +1506,20 @@ void SubSceneManager::ProcessCone(
15051506
_parent->AddGeometry(cone);
15061507
}
15071508

1509+
//////////////////////////////////////////////////
1510+
void SubSceneManager::ProcessCapsule(
1511+
const gazebo::msgs::Geometry & _geometryMsg, VisualPtr _parent)
1512+
{
1513+
// \todo(anyone) needs gazebo capsule msg
1514+
CapsulePtr capsule = this->activeScene->CreateCapsule();
1515+
// Const gazebo::msgs::CapsuleGeom &capsuleMsg = _geometryMsg.capsule();
1516+
// Double x = 2 * capsuleMsg.radius();
1517+
// Double y = 2 * capsuleMsg.radius();
1518+
// Double z = capsuleMsg.length();
1519+
// _parent->SetLocalScale(x, y, z);
1520+
_parent->AddGeometry(std::dynamic_pointer_cast<Geometry>(capsule));
1521+
}
1522+
15081523
//////////////////////////////////////////////////
15091524
//! [process cylinder]
15101525
void SubSceneManager::ProcessCylinder(
@@ -1820,10 +1835,14 @@ void SubSceneManager::CreateGeometryFunctionMap()
18201835
this->geomFunctions[gazebo::msgs::Geometry::BOX] =
18211836
&SubSceneManager::ProcessBox;
18221837

1823-
// TODO(anyone): enable when cone protobuf msg created
1838+
// todo(anyone): enable when cone protobuf msg is created
18241839
// this->geomFunctions[gazebo::msgs::Geometry::CONE] =
18251840
// &SubSceneManager::ProcessCone;
18261841

1842+
// todo(anyone): enable when capsule protobuf msg is created
1843+
// this->geomFunctions[gazebo::msgs::Geometry::CAPSULE] =
1844+
// &SubSceneManager::ProcessSphere;
1845+
18271846
this->geomFunctions[gazebo::msgs::Geometry::CYLINDER] =
18281847
&SubSceneManager::ProcessCylinder;
18291848

‎examples/gazebo_scene_viewer/SceneManagerPrivate.hh

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@@ -325,6 +325,9 @@ namespace ignition
325325
protected: virtual void ProcessCone(
326326
const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
327327

328+
protected: virtual void ProcessCapsule(
329+
const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
330+
328331
protected: virtual void ProcessCylinder(
329332
const gazebo::msgs::Geometry &_geometryMsg, VisualPtr _parent);
330333

‎examples/heightmap/CMakeLists.txt

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@@ -0,0 +1,39 @@
1+
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
2+
project(ignition-rendering-heightmap)
3+
find_package(ignition-rendering5 REQUIRED)
4+
5+
include_directories(SYSTEM
6+
${PROJECT_BINARY_DIR}
7+
)
8+
9+
find_package(GLUT REQUIRED)
10+
include_directories(SYSTEM ${GLUT_INCLUDE_DIRS})
11+
link_directories(${GLUT_LIBRARY_DIRS})
12+
13+
find_package(OpenGL REQUIRED)
14+
include_directories(SYSTEM ${OpenGL_INCLUDE_DIRS})
15+
link_directories(${OpenGL_LIBRARY_DIRS})
16+
17+
if (NOT APPLE)
18+
find_package(GLEW REQUIRED)
19+
include_directories(SYSTEM ${GLEW_INCLUDE_DIRS})
20+
link_directories(${GLEW_LIBRARY_DIRS})
21+
endif()
22+
23+
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -Wno-deprecated-declarations")
24+
25+
configure_file (example_config.hh.in ${PROJECT_BINARY_DIR}/example_config.hh)
26+
27+
add_executable(heightmap Main.cc GlutWindow.cc)
28+
29+
target_link_libraries(heightmap
30+
${GLUT_LIBRARIES}
31+
${OPENGL_LIBRARIES}
32+
${GLEW_LIBRARIES}
33+
${IGNITION-RENDERING_LIBRARIES}
34+
)
35+
36+
add_custom_command(TARGET heightmap POST_BUILD
37+
COMMAND ${CMAKE_COMMAND} -E copy_directory
38+
${CMAKE_SOURCE_DIR}/media
39+
$<TARGET_FILE_DIR:heightmap>/media)

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