Changes the Ogre depth write and scene blending based on the alpha value

cyy1991 · Apr 6, 2017 · fa22632 · fa22632
1 parent 016a232
commit fa22632
Showing 1 changed file with 12 additions and 2 deletions.
diff --git a/grid_map_rviz_plugin/src/GridMapVisual.cpp b/grid_map_rviz_plugin/src/GridMapVisual.cpp
@@ -223,8 +223,18 @@ void GridMapVisual::computeVisualization(float alpha, bool showGridLines, bool f
 
   manualObject_->end();
   material_->getTechnique(0)->setLightingEnabled(false);
-  material_->getTechnique(0)->setSceneBlending(Ogre::SBT_TRANSPARENT_ALPHA);
-  material_->getTechnique(0)->setDepthWriteEnabled(false);
+
+
+  if ( alpha < 0.9998 )
+  {
+    material_->getTechnique(0)->setSceneBlending( Ogre::SBT_TRANSPARENT_ALPHA );
+    material_->getTechnique(0)->setDepthWriteEnabled( false );
+  }
+  else
+  {
+    material_->getTechnique(0)->setSceneBlending( Ogre::SBT_REPLACE );
+    material_->getTechnique(0)->setDepthWriteEnabled( true );
+  }
 }
 
 void GridMapVisual::setFramePosition(const Ogre::Vector3& position)