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MJCF: fix B3_PI, fix colors, fix capsule without 'fromto'

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This commit is contained in:
Oleg Klimov
2017-03-19 00:19:04 +03:00
parent 4526b0a94a
commit 41df15a464
4 changed files with 75 additions and 33 deletions
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18
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -575,7 +575,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
if (name_char)
visual.m_name = name_char;
visual.m_hasLocalMaterial = false;
visual.m_geometry.m_hasLocalMaterial = false;
// Material
TiXmlElement *mat = config->FirstChildElement("material");
@@ -597,7 +597,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
matPtr->m_rgbaColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_hasLocalMaterial = true;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
else
@@ -616,11 +616,11 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
{
if (parseMaterial(visual.m_localMaterial, mat,logger))
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
{
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_localMaterial);
UrdfMaterial* matPtr = new UrdfMaterial(visual.m_geometry.m_localMaterial);
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_hasLocalMaterial = true;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
@@ -1408,12 +1408,12 @@ bool UrdfParser::loadUrdf(const char* urdfText, ErrorLogger* logger, bool forceF
for (int i=0;i<link->m_visualArray.size();i++)
{
UrdfVisual& vis = link->m_visualArray.at(i);
if (!vis.m_hasLocalMaterial && vis.m_materialName.c_str())
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
{
UrdfMaterial** mat = m_urdf2Model.m_materials.find(vis.m_materialName.c_str());
if (mat && *mat)
{
vis.m_localMaterial = **mat;
vis.m_geometry.m_localMaterial = **mat;
} else
{
//logger->reportError("Cannot find material with name:");
@@ -1603,12 +1603,12 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
for (int i=0;i<link->m_visualArray.size();i++)
{
UrdfVisual& vis = link->m_visualArray.at(i);
if (!vis.m_hasLocalMaterial && vis.m_materialName.c_str())
if (!vis.m_geometry.m_hasLocalMaterial && vis.m_materialName.c_str())
{
UrdfMaterial** mat = localModel->m_materials.find(vis.m_materialName.c_str());
if (mat && *mat)
{
vis.m_localMaterial = **mat;
vis.m_geometry.m_localMaterial = **mat;
} else
{
//logger->reportError("Cannot find material with name:");