fix setting emitter properties

Signed-off-by: Ian Chen <ichen@osrfoundation.org>
gazebosim · Feb 17, 2021 · f8a971d · f8a971d
1 parent 471f0d1
commit f8a971d
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Showing 3 changed files with 12 additions and 12 deletions.
diff --git a/src/rendering/RenderUtil.cc b/src/rendering/RenderUtil.cc
@@ -320,16 +320,11 @@ void RenderUtil::UpdateECM(const UpdateInfo &/*_info*/,
           if (poseComp)
             poseComp->Data() = msgs::Convert(_emitterCmd->Data().pose());
         }
+        _ecm.RemoveComponent<components::ParticleEmitterCmd>(_entity);
+
         return true;
       });
 
-  for (auto &emitterCmd : this->dataPtr->newParticleEmittersCmds)
-  {
-    if (!_ecm.RemoveComponent<components::ParticleEmitterCmd>(
-        std::get<0>(emitterCmd)))
-      ignwarn << "Unable to remove ParticleEmitterCmd component" << std::endl;
-  }
-
   // Update thermal cameras
   _ecm.Each<components::ThermalCamera>(
       [&](const Entity &_entity,

diff --git a/src/rendering/SceneManager.cc b/src/rendering/SceneManager.cc
@@ -1087,8 +1087,13 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
   // Velocity range.
   emitter->SetVelocityRange(_emitter.min_velocity(), _emitter.max_velocity());
 
+  // Color range image.
+  if (!_emitter.color_range_image().empty())
+  {
+    emitter->SetColorRangeImage(_emitter.color_range_image());
+  }
   // Color range.
-  if (_emitter.has_color_start() && _emitter.has_color_end())
+  else if (_emitter.has_color_start() && _emitter.has_color_end())
   {
     emitter->SetColorRange(
       ignition::msgs::Convert(_emitter.color_start()),
@@ -1098,10 +1103,6 @@ rendering::ParticleEmitterPtr SceneManager::UpdateParticleEmitter(Entity _id,
   // Scale rate.
   emitter->SetScaleRate(_emitter.scale_rate());
 
-  // Color range image.
-  if (!_emitter.color_range_image().empty())
-    emitter->SetColorRangeImage(_emitter.color_range_image());
-
   // pose
   if (_emitter.has_pose())
     emitter->SetLocalPose(msgs::Convert(_emitter.pose()));

diff --git a/src/systems/particle_emitter/ParticleEmitter.cc b/src/systems/particle_emitter/ParticleEmitter.cc
@@ -309,6 +309,10 @@ void ParticleEmitter::PreUpdate(const ignition::gazebo::UpdateInfo &_info,
   else
   {
     emitterComp->Data() = this->dataPtr->userCmd;
+
+    _ecm.SetChanged(this->dataPtr->emitterEntity,
+        components::ParticleEmitterCmd::typeId,
+        ComponentState::OneTimeChange);
   }
 
   igndbg << "New ParticleEmitterCmd component created" << std::endl;