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implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

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pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
This commit is contained in:
Erwin Coumans
2017-06-01 12:32:44 -07:00
parent 439e8c84cf
commit 87293e835c
36 changed files with 78766 additions and 87 deletions
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66
examples/Importers/ImportURDFDemo/UrdfParser.cpp
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@@ -100,17 +100,33 @@ bool UrdfParser::parseMaterial(UrdfMaterial& material, TiXmlElement *config, Err
}
// color
TiXmlElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
if (!parseVector4(material.m_rgbaColor,c->Attribute("rgba")))
TiXmlElement *c = config->FirstChildElement("color");
if (c)
{
if (c->Attribute("rgba"))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
if (!parseVector4(material.m_matColor.m_rgbaColor,c->Attribute("rgba")))
{
std::string msg = material.m_name+" has no rgba";
logger->reportWarning(msg.c_str());
}
}
}
}
}
{
// specular (non-standard)
TiXmlElement *s = config->FirstChildElement("specular");
if (s)
{
if (s->Attribute("rgb"))
{
if (!parseVector3(material.m_matColor.m_specularColor,s->Attribute("rgb"),logger))
{
}
}
}
}
return true;
@@ -552,16 +568,29 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
if (name_char)
matPtr->m_name = name_char;
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
{
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
btVector4 rgba(1,0,0,1);
parseVector4(rgba,diffuseText);
matPtr->m_matColor.m_rgbaColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
{
TiXmlElement *specular = mat->FirstChildElement("specular");
if (specular) {
std::string specularText = specular->GetText();
btVector3 rgba(1,1,1);
parseVector3(rgba,specularText,logger);
matPtr->m_matColor.m_specularColor = rgba;
visual.m_materialName = matPtr->m_name;
visual.m_geometry.m_hasLocalMaterial = true;
}
}
}
else
{
@@ -577,7 +606,8 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
TiXmlElement *t = mat->FirstChildElement("texture");
TiXmlElement *c = mat->FirstChildElement("color");
if (t||c)
TiXmlElement *s = mat->FirstChildElement("specular");
if (t||c||s)
{
if (parseMaterial(visual.m_geometry.m_localMaterial, mat,logger))
{