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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
parent c7365837cd 26f6618f00
commit 7d5dea1bac
2 changed files with 45 additions and 23 deletions
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8
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'>
@@ -407,4 +413,4 @@
</joint> </joint>
</model> </model>
</world> </world>
</sdf> </sdf>

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

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