From 7e9ac91c1cdc45ec0164255d9f99dc3e624e3b38 Mon Sep 17 00:00:00 2001
From: Benjamin Perseghetti <bperseghetti@rudislabs.com>
Date: Fri, 17 May 2024 13:58:02 -0400
Subject: [PATCH] Adding cone primitives. (#442)

Signed-off-by: Benjamin Perseghetti <bperseghetti@rudislabs.com>
---
 core/include/gz/msgs/convert/GeometryType.hh | 9 +++++++++
 proto/gz/msgs/particle_emitter.proto         | 2 ++
 test/integration/Utility_TEST.cc             | 1 +
 3 files changed, 12 insertions(+)

diff --git a/core/include/gz/msgs/convert/GeometryType.hh b/core/include/gz/msgs/convert/GeometryType.hh
index 155adc4d..167e18c3 100644
--- a/core/include/gz/msgs/convert/GeometryType.hh
+++ b/core/include/gz/msgs/convert/GeometryType.hh
@@ -41,6 +41,10 @@ inline msgs::Geometry::Type ConvertGeometryType(const std::string &_str)
   {
     result = msgs::Geometry::CAPSULE;
   }
+  else if (_str == "cone")
+  {
+    result = msgs::Geometry::CONE;
+  }
   else if (_str == "cylinder")
   {
     result = msgs::Geometry::CYLINDER;
@@ -100,6 +104,11 @@ inline std::string ConvertGeometryType(const msgs::Geometry::Type _type)
       result = "capsule";
       break;
     }
+  case msgs::Geometry::CONE:
+    {
+      result = "cone";
+      break;
+    }
     case msgs::Geometry::CYLINDER:
     {
       result = "cylinder";
diff --git a/proto/gz/msgs/particle_emitter.proto b/proto/gz/msgs/particle_emitter.proto
index 564b88ff..e5e478a1 100644
--- a/proto/gz/msgs/particle_emitter.proto
+++ b/proto/gz/msgs/particle_emitter.proto
@@ -55,6 +55,8 @@ message ParticleEmitter
     CYLINDER  = 2;
     /// \brief Ellipsoid emitter.
     ELLIPSOID = 3;
+    /// \brief Cone emitter.
+    CONE = 4;
   }
   /// \brief The emitter type.
   EmitterType type              = 4;
diff --git a/test/integration/Utility_TEST.cc b/test/integration/Utility_TEST.cc
index 8c40d89f..634afbe3 100644
--- a/test/integration/Utility_TEST.cc
+++ b/test/integration/Utility_TEST.cc
@@ -1003,6 +1003,7 @@ TEST(MsgsTest, ConvertMsgsGeometryTypeToString)
   CompareMsgsGeometryTypeToString(msgs::Geometry::BOX);
   CompareMsgsGeometryTypeToString(msgs::Geometry::SPHERE);
   CompareMsgsGeometryTypeToString(msgs::Geometry::CAPSULE);
+  CompareMsgsGeometryTypeToString(msgs::Geometry::CONE);
   CompareMsgsGeometryTypeToString(msgs::Geometry::CYLINDER);
   CompareMsgsGeometryTypeToString(msgs::Geometry::ELLIPSOID);
   CompareMsgsGeometryTypeToString(msgs::Geometry::PLANE);