AuroraMiddleware/bullet3
1
0
Fork 0
mirror of https://github.com/bulletphysics/bullet3 synced 2024-12-13 05:10:08 +00:00
Code Issues Releases Wiki Activity

colors for sdf

Browse Source
This commit is contained in:
Erwin Coumans 2016-06-17 12:07:38 -07:00
parent c7365837cd
commit 26f6618f00
2 changed files with 45 additions and 23 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
data/kuka_iiwa/model.sdf
View File

@ -32,6 +32,12 @@
<uri>meshes/link_0.stl</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0 0 1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
<link name='lbr_iiwa_link_1'>
@ -407,4 +413,4 @@
</joint>
</model>
</world>
</sdf>
</sdf>

60
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -490,29 +490,45 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
// Material
TiXmlElement *mat = config->FirstChildElement("material");
//todo(erwincoumans) skip materials in SDF for now (due to complexity)
if (mat && !m_parseSDF)
if (mat)
{
// get material name
if (!mat->Attribute("name"))
{
logger->reportError("Visual material must contain a name attribute");
return false;
}
visual.m_materialName = mat->Attribute("name");
// try to parse material element in place
TiXmlElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
}
}
if (m_parseSDF)
{
UrdfMaterial* matPtr = new UrdfMaterial;
matPtr->m_name = "mat";
std::string diffuseText = mat->FirstChildElement("diffuse")->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
matPtr->m_textureFilename = "textureTest.png";
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_materialName = "mat";
visual.m_hasLocalMaterial = true;
}
else
{
// get material name
if (!mat->Attribute("name"))
{
logger->reportError("Visual material must contain a name attribute");
return false;
}
visual.m_materialName = mat->Attribute("name");
// try to parse material element in place
TiXmlElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
}
}
}
}
return true;