Skip to content

Commit

Permalink
support multiple material for one link (#1080)
Browse files Browse the repository at this point in the history
  • Loading branch information
@k-okada @wjwwood
k-okada authored and wjwwood committed Apr 29, 2017
1 parent be65d01 commit 06b0485
Show file tree
Hide file tree
Showing 2 changed files with 35 additions and 11 deletions.
42 changes: 33 additions & 9 deletions src/rviz/robot/robot_link.cpp
View file
Original file line number Diff line number Diff line change
Expand Up @@ -442,7 +442,7 @@ void RobotLink::updateVisibility()
}
}

Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link, const std::string material_name)
{
if (!link->visual || !link->visual->material)
{
Expand All @@ -455,17 +455,31 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)

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<boost::shared_ptr<urdf::Visual> >::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 @@ -510,7 +524,7 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
return mat;
}

void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& 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 @@ -622,7 +636,17 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, c

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 @@ -681,7 +705,7 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& 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 @@ -694,7 +718,7 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& 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 @@ -738,7 +762,7 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& 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 @@ -751,7 +775,7 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& 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
Original file line number Diff line number Diff line change
Expand Up @@ -162,12 +162,12 @@ private Q_SLOTS:
private:
void setRenderQueueGroup( Ogre::uint8 group );
bool getEnabled() const;
void createEntityForGeometryElement( const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
void createEntityForGeometryElement( const urdf::LinkConstPtr& 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::LinkConstPtr& link);
void createCollision( const urdf::LinkConstPtr& link);
void createSelection();
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link );
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link, const std::string material_name = "" );


protected:
Expand Down

0 comments on commit 06b0485

Please sign in to comment.