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collada_urdf: fixed position_array

This commit is contained in:
tfield 2010-03-09 06:52:07 +00:00
parent 642c69eabb
commit 1642af2b54
1 changed files with 39 additions and 39 deletions
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74
collada_urdf/src/urdf_to_collada.cpp
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@ -36,11 +36,6 @@
// urdf_to_collada.cpp // urdf_to_collada.cpp
/*
Issues:
- triangles material hard-coded to "mat0"
*/
#include <dae.h> #include <dae.h>
#include <dae/daeErrorHandler.h> #include <dae/daeErrorHandler.h>
#include <dom/domCOLLADA.h> #include <dom/domCOLLADA.h>
@ -357,62 +352,67 @@ public:
// <float_array id="g1.link0.geom0.positions-array" count="4533" digits="6"> // <float_array id="g1.link0.geom0.positions-array" count="4533" digits="6">
domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY)); domFloat_arrayRef positions_array = daeSafeCast<domFloat_array>(positions_source->createAndPlace(COLLADA_ELEMENT_FLOAT_ARRAY));
positions_array->setId((geometry_id + string(".positions-array")).c_str()); positions_array->setId((geometry_id + string(".positions-array")).c_str());
positions_array->setCount(num_vertices); positions_array->setCount(num_vertices * 3);
positions_array->setDigits(6); // 6 decimal places positions_array->setDigits(6); // 6 decimal places
positions_array->getValue().setCount(num_vertices); positions_array->getValue().setCount(num_vertices * 3);
for (unsigned int j = 0; j < num_vertices; j++) { for (unsigned int j = 0; j < num_vertices; j++) {
positions_array->getValue()[j] = stl_mesh->vertices[j].x; positions_array->getValue()[j * 3 ] = stl_mesh->vertices[j].x;
positions_array->getValue()[j] = stl_mesh->vertices[j].y; positions_array->getValue()[j * 3 + 1] = stl_mesh->vertices[j].y;
positions_array->getValue()[j] = stl_mesh->vertices[j].z; positions_array->getValue()[j * 3 + 2] = stl_mesh->vertices[j].z;
} }
// </float_array>
// <technique_common> // <technique_common>
domSource::domTechnique_commonRef source_tech = daeSafeCast<domSource::domTechnique_common>(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON)); domSource::domTechnique_commonRef source_tech = daeSafeCast<domSource::domTechnique_common>(positions_source->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <accessor count="4533" source="#g1.link0.geom0.positions-array" stride="3"> // <accessor count="4533" source="#g1.link0.geom0.positions-array" stride="3">
domAccessorRef accessor = daeSafeCast<domAccessor>(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR)); domAccessorRef accessor = daeSafeCast<domAccessor>(source_tech->createAndPlace(COLLADA_ELEMENT_ACCESSOR));
accessor->setCount(num_vertices); accessor->setCount(num_vertices / 3);
accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array"))); accessor->setSource(xsAnyURI(*positions_array, string("#") + geometry_id + string(".positions-array")));
accessor->setStride(3); accessor->setStride(3);
{
// <param name="X" type="float"/> // <param name="X" type="float"/>
// <param name="Y" type="float"/> // <param name="Y" type="float"/>
// <param name="Z" type="float"/> // <param name="Z" type="float"/>
domParamRef px = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float"); domParamRef px = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); px->setName("X"); px->setType("float");
domParamRef py = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float"); domParamRef py = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); py->setName("Y"); py->setType("float");
domParamRef pz = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float"); domParamRef pz = daeSafeCast<domParam>(accessor->createAndPlace(COLLADA_ELEMENT_PARAM)); pz->setName("Z"); pz->setType("float");
}
// </accessor>
}
// </technique_common>
} }
// <vertices id="vertices"> // <vertices id="vertices">
domVerticesRef vertices = daeSafeCast<domVertices>(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES)); domVerticesRef vertices = daeSafeCast<domVertices>(mesh->createAndPlace(COLLADA_ELEMENT_VERTICES));
vertices->setId("vertices"); string vertices_id = geometry_id + string(".vertices");
vertices->setId(vertices_id.c_str());
{ {
// <input semantic="POSITION" source="#g1.link0.geom0.positions"/> // <input semantic="POSITION" source="#g1.link0.geom0.positions"/>
domInput_localRef vertices_input = daeSafeCast<domInput_local>(vertices->createAndPlace(COLLADA_ELEMENT_INPUT)); domInput_localRef vertices_input = daeSafeCast<domInput_local>(vertices->createAndPlace(COLLADA_ELEMENT_INPUT));
vertices_input->setSemantic("POSITION"); vertices_input->setSemantic("POSITION");
vertices_input->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string(".positions"))); vertices_input->setSource(domUrifragment(*positions_source, string("#") + string(positions_source->getId())));
} }
// </vertices> // </vertices>
// <triangles count="1511" material="mat0"> // <triangles count="1511" material="mat0">
domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES)); domTrianglesRef triangles = daeSafeCast<domTriangles>(mesh->createAndPlace(COLLADA_ELEMENT_TRIANGLES));
triangles->setCount(num_faces);
triangles->setMaterial("mat0");
{ {
triangles->setCount(num_faces);
triangles->setMaterial("mat0");
// <input offset="0" semantic="VERTEX" source="#g1.link0.geom0/vertices" set="0"/> // <input offset="0" semantic="VERTEX" source="#g1.link0.geom0/vertices" set="0"/>
domInput_local_offsetRef vertex_offset = daeSafeCast<domInput_local_offset>(triangles->createAndPlace(COLLADA_ELEMENT_INPUT)); domInput_local_offsetRef vertex_offset = daeSafeCast<domInput_local_offset>(triangles->createAndPlace(COLLADA_ELEMENT_INPUT));
vertex_offset->setSemantic("VERTEX"); vertex_offset->setSemantic("VERTEX");
vertex_offset->setOffset(0); vertex_offset->setOffset(0);
vertex_offset->setSource(domUrifragment(*positions_source, string("#") + geometry_id + string("/vertices"))); vertex_offset->setSource(domUrifragment(*positions_source, string("#") + vertices_id));
{
// <p>0 1 2 3 ... // <p>0 1 2 3 ...
domPRef indices = daeSafeCast<domP>(triangles->createAndPlace(COLLADA_ELEMENT_P)); domPRef indices = daeSafeCast<domP>(triangles->createAndPlace(COLLADA_ELEMENT_P));
indices->getValue().setCount(num_indices); indices->getValue().setCount(num_indices);
for (unsigned int i = 0; i < num_indices; i++) for (unsigned int i = 0; i < num_indices; i++)
indices->getValue()[i] = stl_mesh->indices[i]; indices->getValue()[i] = stl_mesh->indices[i];
// </p> // </p>
}
} }
// </triangles> // </triangles>
} }