From 9d87388a15869b289e73ec66f3f9544a09228bd1 Mon Sep 17 00:00:00 2001
From: Ashton Larkin <ashton@openrobotics.org>
Date: Mon, 20 Sep 2021 17:10:26 -0400
Subject: [PATCH] trying to clone capsule geometries

Signed-off-by: Ashton Larkin <ashton@openrobotics.org>
---
 .../ignition/rendering/base/BaseCapsule.hh    | 26 +++++++++++++++++++
 .../ignition/rendering/base/BaseGeometry.hh   |  2 ++
 include/ignition/rendering/base/BaseMesh.hh   |  2 +-
 3 files changed, 29 insertions(+), 1 deletion(-)

diff --git a/include/ignition/rendering/base/BaseCapsule.hh b/include/ignition/rendering/base/BaseCapsule.hh
index 463c1a61c..02e80db28 100644
--- a/include/ignition/rendering/base/BaseCapsule.hh
+++ b/include/ignition/rendering/base/BaseCapsule.hh
@@ -18,6 +18,8 @@
 #ifndef IGNITION_RENDERING_BASECAPSULE_HH_
 #define IGNITION_RENDERING_BASECAPSULE_HH_
 
+#include <ignition/common/Console.hh>
+
 #include "ignition/rendering/Capsule.hh"
 #include "ignition/rendering/base/BaseObject.hh"
 
@@ -50,6 +52,9 @@ namespace ignition
       // Documentation inherited
       public: virtual double Length() const override;
 
+      // Documentation inherited
+      public: virtual GeometryPtr Clone() const override;
+
       /// \brief Radius of the capsule
       protected: double radius = 0.5;
 
@@ -103,6 +108,27 @@ namespace ignition
     {
       return this->length;
     }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    GeometryPtr BaseCapsule<T>::Clone() const
+    {
+      if (!this->Scene())
+      {
+        ignerr << "Cloning a Capsule failed because the capsule to be "
+          << "cloned does not belong to a scene.\n";
+        return nullptr;
+      }
+
+      auto result = this->Scene()->CreateCapsule();
+      if (result)
+      {
+        result->SetRadius(this->Radius());
+        result->SetLength(this->Length());
+      }
+
+      return result;
+    }
     }
   }
 }
diff --git a/include/ignition/rendering/base/BaseGeometry.hh b/include/ignition/rendering/base/BaseGeometry.hh
index 8d5cf685e..337262037 100644
--- a/include/ignition/rendering/base/BaseGeometry.hh
+++ b/include/ignition/rendering/base/BaseGeometry.hh
@@ -51,6 +51,7 @@ namespace ignition
       public: virtual void SetMaterial(MaterialPtr _material,
                   bool _unique = true) override = 0;
 
+      // Documentation inherited
       public: virtual GeometryPtr Clone() const override;
 
       // Documentation inherited
@@ -98,6 +99,7 @@ namespace ignition
     template <class T>
     GeometryPtr BaseGeometry<T>::Clone() const
     {
+      ignwarn << "Clone functionality for Geometry does not exist yet.\n";
       return nullptr;
     }
 
diff --git a/include/ignition/rendering/base/BaseMesh.hh b/include/ignition/rendering/base/BaseMesh.hh
index ca0858a5f..b3c0b9f2a 100644
--- a/include/ignition/rendering/base/BaseMesh.hh
+++ b/include/ignition/rendering/base/BaseMesh.hh
@@ -329,7 +329,7 @@ namespace ignition
     {
       if (!this->Scene())
       {
-        ignerr << "Cloning a geometry failed because the geometry to be "
+        ignerr << "Cloning a mesh failed because the mesh to be "
           << "cloned does not belong to a scene.\n";
         return nullptr;
       }