URDF loader: fix SDF branch, warn about unsupported geometry

examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp

@@ -755,7 +755,8 @@ upAxisMat.setIdentity();
 	} // mesh case
 
         default:
-		b3Warning("Error: unknown visual geometry type\n");
+		b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
+		// for example, URDF_GEOM_PLANE
 	}
 	return shape;
 }
@@ -943,7 +944,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
 		}
 
 		default:
-			b3Warning("Error: unknown visual geometry type\n");
+			b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
 	}
 
 	//if we have a convex, tesselate into localVertices/localIndices

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -417,49 +417,36 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 		geom.m_hasFromTo = false;
 		geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
 		geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
-		
 	}
 	else if (type_name == "mesh")
 	{
 		geom.m_type = URDF_GEOM_MESH;
+		geom.m_meshScale.setValue(1,1,1);
+		std::string fn;
+
 		if (m_parseSDF)
 		{
-          TiXmlElement* scale = shape->FirstChildElement("scale");
+			if (TiXmlElement* scale = shape->FirstChildElement("scale"))
-          if (0==scale)
-          {
-              geom.m_meshScale.setValue(1,1,1);
-          }
-          else
 			{
 				parseVector3(geom.m_meshScale,scale->GetText(),logger);
 			}
-          
+			if (TiXmlElement* filename = shape->FirstChildElement("uri"))
-          TiXmlElement* filename = shape->FirstChildElement("uri");
+			{
-          geom.m_meshFileName = filename->GetText();
+				fn = filename->GetText();
+			}
 		}
 		else
 		{
-          if (!shape->Attribute("filename"))
+			// URDF
+			if (shape->Attribute("filename"))
 			{
-              logger->reportError("Mesh must contain a filename attribute");
+				fn = shape->Attribute("filename");
-              return false;
 			}
-          
-          bool success = findExistingMeshFile(
-              m_urdf2Model.m_sourceFile, shape->Attribute("filename"), sourceFileLocation(shape),
-              &geom.m_meshFileName, &geom.m_meshFileType);
-          if (!success)
-          {
-              // warning printed
-              return false;
-          }
-          geom.m_meshScale.setValue(1,1,1);
-
 			if (shape->Attribute("scale"))
 			{
 				if (!parseVector3(geom.m_meshScale, shape->Attribute("scale"), logger))
 				{
-                  logger->reportWarning("%s: scale should be a vector3, not single scalar. Workaround activated.\n");
+					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)
@@ -467,10 +454,24 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
 						geom.m_meshScale.setValue(scaleFactor, scaleFactor, scaleFactor);
 					}
 				}
-          } else
-          {
 			}
 		}
+
+		if (fn.empty())
+		{
+			logger->reportError("Mesh filename is empty");
+			return false;
+		}
+
+		geom.m_meshFileName = fn;
+		bool success = findExistingMeshFile(
+			m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
+			&geom.m_meshFileName, &geom.m_meshFileType);
+		if (!success)
+		{
+			// warning already printed
+			return false;
+		}
   }
   else
   {

examples/SharedMemory/TinyRendererVisualShapeConverter.cpp

@@ -380,7 +380,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
 
 		default:
 		{
-			b3Warning("Error: unknown visual geometry type\n");
+			b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);
 		}
 	}