Skip to content

support multiple material for one link #1079

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
merged 1 commit into from
Apr 29, 2017
+35 −11
Merged

support multiple material for one link #1079

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
42 changes: 33 additions & 9 deletions src/rviz/robot/robot_link.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -441,7 +441,7 @@ void RobotLink::updateVisibility()
}
}

Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr& link)
Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr& link, const std::string material_name)
{
if (!link->visual || !link->visual->material)
{
Expand All @@ -454,17 +454,31 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr&

Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
mat->getTechnique(0)->setLightingEnabled(true);
if (link->visual->material->texture_filename.empty())

boost::shared_ptr<urdf::Visual> visual = link->visual;
std::vector<urdf::VisualSharedPtr >::const_iterator vi;
for( vi = link->visual_array.begin(); vi != link->visual_array.end(); vi++ )
{
const urdf::Color& col = link->visual->material->color;
if( (*vi) && material_name != "" && (*vi)->material_name == material_name) {
visual = *vi;
break;
}
}
if ( vi == link->visual_array.end() ) {
visual = link->visual; // if link does not have material, use default oneee
}

if (visual->material->texture_filename.empty())
{
const urdf::Color& col = visual->material->color;
mat->getTechnique(0)->setAmbient(col.r * 0.5, col.g * 0.5, col.b * 0.5);
mat->getTechnique(0)->setDiffuse(col.r, col.g, col.b, col.a);

material_alpha_ = col.a;
}
else
{
std::string filename = link->visual->material->texture_filename;
std::string filename = visual->material->texture_filename;
if (!Ogre::TextureManager::getSingleton().resourceExists(filename))
{
resource_retriever::Retriever retriever;
Expand Down Expand Up @@ -509,7 +523,7 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstSharedPtr&
return mat;
}

void RobotLink::createEntityForGeometryElement(const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
void RobotLink::createEntityForGeometryElement(const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, const std::string material_name, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
{
entity = NULL; // default in case nothing works.
Ogre::SceneNode* offset_node = scene_node->createChildSceneNode();
Expand Down Expand Up @@ -621,7 +635,17 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstSharedPtr& l

for (uint32_t i = 0; i < entity->getNumSubEntities(); ++i)
{
default_material_ = getMaterialForLink(link, material_name);
static int count = 0;
std::stringstream ss;
ss << default_material_->getName() << count++ << "Robot";
std::string cloned_name = ss.str();

default_material_ = default_material_->clone(cloned_name);
default_material_name_ = default_material_->getName();

// Assign materials only if the submesh does not have one already

Ogre::SubEntity* sub = entity->getSubEntity(i);
const std::string& material_name = sub->getMaterialName();

Expand Down Expand Up @@ -680,7 +704,7 @@ void RobotLink::createCollision(const urdf::LinkConstSharedPtr& link)
if( collision && collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
createEntityForGeometryElement( link, *collision->geometry, collision->origin, collision_node_, collision_mesh );
createEntityForGeometryElement( link, *collision->geometry, collision->origin, "", collision_node_, collision_mesh );
if( collision_mesh )
{
collision_meshes_.push_back( collision_mesh );
Expand All @@ -693,7 +717,7 @@ void RobotLink::createCollision(const urdf::LinkConstSharedPtr& link)
if( !valid_collision_found && link->collision && link->collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
createEntityForGeometryElement( link, *link->collision->geometry, link->collision->origin, collision_node_, collision_mesh );
createEntityForGeometryElement( link, *link->collision->geometry, link->collision->origin, "", collision_node_, collision_mesh );
if( collision_mesh )
{
collision_meshes_.push_back( collision_mesh );
Expand Down Expand Up @@ -737,7 +761,7 @@ void RobotLink::createVisual(const urdf::LinkConstSharedPtr& link )
if( visual && visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
createEntityForGeometryElement( link, *visual->geometry, visual->origin, visual_node_, visual_mesh );
createEntityForGeometryElement( link, *visual->geometry, visual->origin, visual->material_name, visual_node_, visual_mesh );
if( visual_mesh )
{
visual_meshes_.push_back( visual_mesh );
Expand All @@ -750,7 +774,7 @@ void RobotLink::createVisual(const urdf::LinkConstSharedPtr& link )
if( !valid_visual_found && link->visual && link->visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
createEntityForGeometryElement( link, *link->visual->geometry, link->visual->origin, visual_node_, visual_mesh );
createEntityForGeometryElement( link, *link->visual->geometry, link->visual->origin, link->visual->material_name, visual_node_, visual_mesh );
if( visual_mesh )
{
visual_meshes_.push_back( visual_mesh );
Expand Down
4 changes: 2 additions & 2 deletions src/rviz/robot/robot_link.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -155,12 +155,12 @@ private Q_SLOTS:
private:
void setRenderQueueGroup( Ogre::uint8 group );
bool getEnabled() const;
void createEntityForGeometryElement( const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
void createEntityForGeometryElement( const urdf::LinkConstSharedPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, const std::string material_name, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );

void createVisual( const urdf::LinkConstSharedPtr& link);
void createCollision( const urdf::LinkConstSharedPtr& link);
void createSelection();
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstSharedPtr& link );
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstSharedPtr& link, const std::string material_name = "" );


protected:
Expand Down