bkinnightskytw
/
kdl_parser
mirror of https://github.com/existedinnettw/kdl_parser.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

collada_urdf: added effects

This commit is contained in:
tfield 2010-03-09 05:02:14 +00:00
parent 9e684833d6
commit 3bf18c4b6f
1 changed files with 75 additions and 5 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

80
collada_urdf/src/urdf_to_collada.cpp
View File

@ -223,10 +223,10 @@ public:
setupPhysics(scene);
addGeometries();
addJoints();
addKinematics(scene);
addVisuals(scene);
addMaterials();
collada_->writeAll();
@ -237,9 +237,10 @@ public:
// <technique_common>
domPhysics_scene::domTechnique_commonRef common = daeSafeCast<domPhysics_scene::domTechnique_common>(scene.pscene->createAndPlace(COLLADA_ELEMENT_TECHNIQUE_COMMON));
{
// <gravity>0 0 0</gravity>
// <gravity>0 0 0
domTargetable_float3Ref g = daeSafeCast<domTargetable_float3>(common->createAndPlace(COLLADA_ELEMENT_GRAVITY));
g->getValue().set3(0.0, 0.0, 0.0);
// </gravity>
}
// </technique_common>
}
@ -733,8 +734,7 @@ public:
// </link>
}
void addVisuals(SCENE scene)
{
void addVisuals(SCENE scene) {
// <node id="v1" name="pr2">
domNodeRef root_node = daeSafeCast<domNode>(scene.vscene->createAndPlace(COLLADA_ELEMENT_NODE));
root_node->setId("v1");
@ -745,6 +745,76 @@ public:
}
}
void addMaterials() {
urdf::Color ambient, diffuse;
ambient.init("0 0 0 0");
diffuse.init("1 1 1 0");
for (map<string, boost::shared_ptr<urdf::Link> >::const_iterator i = robot_->links_.begin(); i != robot_->links_.end(); i++) {
boost::shared_ptr<urdf::Link> urdf_link = i->second;
map<string, string>::const_iterator j = geometry_ids_.find(urdf_link->name);
if (j != geometry_ids_.end()) {
string geometry_id = j->second;
addEffect(geometry_id, ambient, diffuse);
}
}
}
domEffectRef addEffect(const string& geometry_id, const urdf::Color& color_ambient, const urdf::Color& color_diffuse)
{
// <effect id="g1.link0.geom0.eff">
domEffectRef effect = daeSafeCast<domEffect>(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT));
effect->setId((geometry_id + string(".eff")).c_str());
{
// <profile_COMMON>
domProfile_commonRef profile = daeSafeCast<domProfile_common>(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON));
{
// <technique sid="">
domProfile_common::domTechniqueRef technique = daeSafeCast<domProfile_common::domTechnique>(profile->createAndPlace(COLLADA_ELEMENT_TECHNIQUE));
{
// <phong>
domProfile_common::domTechnique::domPhongRef phong = daeSafeCast<domProfile_common::domTechnique::domPhong>(technique->createAndPlace(COLLADA_ELEMENT_PHONG));
{
// <ambient>
domFx_common_color_or_textureRef ambient = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_AMBIENT));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef ambient_color = daeSafeCast<domFx_common_color_or_texture::domColor>(ambient->createAndPlace(COLLADA_ELEMENT_COLOR));
ambient_color->getValue().setCount(4);
ambient_color->getValue()[0] = color_ambient.r;
ambient_color->getValue()[1] = color_ambient.g;
ambient_color->getValue()[2] = color_ambient.b;
ambient_color->getValue()[3] = color_ambient.a;
// </color>
}
// </ambient>
// <diffuse>
domFx_common_color_or_textureRef diffuse = daeSafeCast<domFx_common_color_or_texture>(phong->createAndPlace(COLLADA_ELEMENT_DIFFUSE));
{
// <color>r g b a
domFx_common_color_or_texture::domColorRef diffuse_color = daeSafeCast<domFx_common_color_or_texture::domColor>(diffuse->createAndPlace(COLLADA_ELEMENT_COLOR));
diffuse_color->getValue().setCount(4);
diffuse_color->getValue()[0] = color_diffuse.r;
diffuse_color->getValue()[1] = color_diffuse.g;
diffuse_color->getValue()[2] = color_diffuse.b;
diffuse_color->getValue()[3] = color_diffuse.a;
// </color>
}
// </diffuse>
}
// </phong>
}
// </technique>
}
// </profile_COMMON>
}
// </effect>
return effect;
}
void addVisualLink(boost::shared_ptr<const urdf::Link> urdf_link, daeElementRef parent, int& link_num) {
// <node id="v1.node0" name="base_link" sid="node0">
domNodeRef node = daeSafeCast<domNode>(parent->createAndPlace(COLLADA_ELEMENT_NODE));
@ -773,7 +843,7 @@ public:
map<string, string>::const_iterator i = geometry_ids_.find(urdf_link->name);
if (i != geometry_ids_.end()) {
domInstance_geometryRef instance_geometry = daeSafeCast<domInstance_geometry>(node->createAndPlace(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
string geometry_id = geometry_ids_[urdf_link->name];
string geometry_id = i->second;
string instance_geometry_url = string("#") + geometry_id;
instance_geometry->setUrl(instance_geometry_url.c_str());
{