Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

URDF loader: reuse the same resources finder routine for TinyRendererVisualShapeConverter

Browse Source
This commit is contained in:
Oleg Klimov
2017-03-10 18:17:38 +03:00
parent 5b2a9d1a01
commit 82495f3c84
4 changed files with 170 additions and 247 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -444,21 +444,24 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
return false;
}
geom.m_meshFileName = shape->Attribute("filename");
geom.m_meshScale.setValue(1,1,1);
bool success = findExistingMeshFile(
m_urdf2Model.m_sourceFile, shape->Attribute("filename"), sourceFileLocation(shape),
&geom.m_meshFileName, &geom.m_meshFileType);
if (!success) return false; // warning printed
geom.m_meshScale.setValue(1,1,1);
if (shape->Attribute("scale"))
if (shape->Attribute("scale"))
{
if (!parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger))
{
logger->reportWarning("scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor,scaleFactor,scaleFactor);
}
}
{
logger->reportWarning("%s: scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor,scaleFactor,scaleFactor);
}
}
} else
{
}