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Code Issues Releases Wiki Activity

Improve link color choice:

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1) use URDF when available, unless URDF_USE_MATERIAL_COLORS_FROM_MTL and MTL color is available.
2) if URDF color is not specified, use MTL color if available
3) otherwise use white, unless URDF_GOOGLEY_UNDEFINED_COLORS flag is set (if set, semi-randomly pick one of the 4 Google colors)
This commit is contained in:
Erwin Coumans 2020-06-01 10:28:07 -07:00
parent 4c1f28d0e4
commit 84cb577622
1 changed files with 29 additions and 34 deletions
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63
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
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@ -1284,45 +1284,40 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP
convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures,meshData);
if (m_data->m_flags&CUF_USE_MATERIAL_COLORS_FROM_MTL)
bool mtlOverridesUrdfColor = false;
if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) &&
(meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR))
{
if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) &&
(meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR))
mtlOverridesUrdfColor = (m_data->m_flags & CUF_USE_MATERIAL_COLORS_FROM_MTL) != 0;
UrdfMaterialColor matCol;
if (m_data->m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
UrdfMaterialColor matCol;
if (m_data->m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL)
{
matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
meshData.m_rgbaColor[1],
meshData.m_rgbaColor[2],
meshData.m_rgbaColor[3]);
} else
{
matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
meshData.m_rgbaColor[1],
meshData.m_rgbaColor[2],
1);
}
matCol.m_specularColor.setValue(meshData.m_specularColor[0],
meshData.m_specularColor[1],
meshData.m_specularColor[2]);
m_data->m_linkColors.insert(linkIndex, matCol);
}
} else
{
if (matPtr)
matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
meshData.m_rgbaColor[1],
meshData.m_rgbaColor[2],
meshData.m_rgbaColor[3]);
} else
{
UrdfMaterial* const mat = *matPtr;
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
UrdfMaterialColor matCol;
matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
matCol.m_specularColor = mat->m_matColor.m_specularColor;
m_data->m_linkColors.insert(linkIndex, matCol);
matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0],
meshData.m_rgbaColor[1],
meshData.m_rgbaColor[2],
1);
}
matCol.m_specularColor.setValue(meshData.m_specularColor[0],
meshData.m_specularColor[1],
meshData.m_specularColor[2]);
m_data->m_linkColors.insert(linkIndex, matCol);
}
if (matPtr && !mtlOverridesUrdfColor)
{
UrdfMaterial* const mat = *matPtr;
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
UrdfMaterialColor matCol;
matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor;
matCol.m_specularColor = mat->m_matColor.m_specularColor;
m_data->m_linkColors.insert(linkIndex, matCol);
}
}
}
if (vertices.size() && indices.size())