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Merge pull request #664 from YunfeiBai/master

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Check diffuse field in sdf.
This commit is contained in:
erwincoumans 2016-06-17 16:15:47 -07:00 committed by GitHub
commit 6369e3e12a
1 changed files with 10 additions and 8 deletions
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18
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@ -496,14 +496,16 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
{
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;
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_materialName = "mat";
visual.m_hasLocalMaterial = true;
}
}
else
{