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Merge pull request #2477 from erwincoumans/master

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fix colors in URDF file
This commit is contained in:
erwincoumans
2019-11-08 17:32:32 -08:00
committed by GitHub
parent e66982d658 bbf983bfbb
commit a2e7c772cf
2 changed files with 8 additions and 5 deletions
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6
data/table/table.urdf
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@@ -29,21 +29,21 @@
<geometry> <geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/> <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry> </geometry>
<material name="framemat0"/> <material name="white"/>
</visual> </visual>
<visual> <visual>
<origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/> <origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
<geometry> <geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/> <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry> </geometry>
<material name="framemat0"/> <material name="white"/>
</visual> </visual>
<visual> <visual>
<origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/> <origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
<geometry> <geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/> <mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry> </geometry>
<material name="framemat0"/> <material name="white"/>
</visual> </visual>
<visual> <visual>
<origin rpy="0 0 0" xyz="0.65 0.4 0.29"/> <origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>

5
examples/TinyRenderer/model.cpp
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@@ -126,10 +126,13 @@ int Model::nfaces()
std::vector<int> Model::face(int idx) std::vector<int> Model::face(int idx)
{ {
std::vector<int> face; std::vector<int> face;
for (int i = 0; i < (int)faces_[idx].size(); i++) face.push_back(faces_[idx][i][0]); face.reserve((int)faces_[idx].size());
for (int i = 0; i < (int)faces_[idx].size(); i++)
face.push_back(faces_[idx][i][0]);
return face; return face;
} }
Vec3f Model::vert(int i) Vec3f Model::vert(int i)
{ {
return verts_[i]; return verts_[i];