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Merge pull request #663 from erwincoumans/master

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colors for sdf
This commit is contained in:
erwincoumans 2016-06-17 13:58:23 -07:00 committed by GitHub
commit 7d5dea1bac
2 changed files with 45 additions and 23 deletions
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6
data/kuka_iiwa/model.sdf
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@ -32,6 +32,12 @@
<uri>meshes/link_0.stl</uri> <uri>meshes/link_0.stl</uri>
</mesh> </mesh>
</geometry> </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> </visual>
</link> </link>
<link name='lbr_iiwa_link_1'> <link name='lbr_iiwa_link_1'>

18
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@ -490,7 +490,22 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
// Material // Material
TiXmlElement *mat = config->FirstChildElement("material"); TiXmlElement *mat = config->FirstChildElement("material");
//todo(erwincoumans) skip materials in SDF for now (due to complexity) //todo(erwincoumans) skip materials in SDF for now (due to complexity)
if (mat && !m_parseSDF) if (mat)
{
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 // get material name
if (!mat->Attribute("name")) if (!mat->Attribute("name"))
@ -514,6 +529,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
} }
} }
} }
}
return true; return true;
} }