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kdl_parser
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color changes to collada_parser for rviz bug #5237 (by Kei Okada)

This commit is contained in:
rdiankov 2011-12-12 14:55:40 +09:00
parent 1fd9899077
commit 3d58f15f26
1 changed files with 2028 additions and 2049 deletions
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69
collada_parser/src/collada_parser.cpp
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@ -76,8 +76,11 @@ namespace urdf{
class UnlinkFilename
{
public:
UnlinkFilename(const std::string& filename) : _filename(filename) {}
virtual ~UnlinkFilename() { unlink(_filename.c_str()); }
UnlinkFilename(const std::string& filename) : _filename(filename) {
}
virtual ~UnlinkFilename() {
unlink(_filename.c_str());
}
std::string _filename;
};
static std::list<boost::shared_ptr<UnlinkFilename> > _listTempFilenames;
@ -153,8 +156,10 @@ namespace urdf{
struct USERDATA
{
USERDATA() {}
USERDATA(double scale) : scale(scale) {}
USERDATA() {
}
USERDATA(double scale) : scale(scale) {
}
double scale;
boost::shared_ptr<void> p; ///< custom managed data
};
@ -174,7 +179,7 @@ namespace urdf{
///< for sphere it is radius
///< for cylinder, first 2 values are radius and height
///< for trimesh, none
Color emissionColor, diffuseColor, ambientColor, specularColor; ///< hints for how to color the meshes
Color diffuseColor, ambientColor; ///< hints for how to color the meshes
std::vector<Vector3> vertices;
std::vector<int> indices;
@ -1041,17 +1046,13 @@ namespace urdf{
std::vector<std::vector<Vector3> > vertices;
std::vector<std::vector<int> > indices;
std::vector<Color> emission;
std::vector<Color> ambients;
std::vector<Color> diffuses;
std::vector<Color> specular;
unsigned int index;
vertices.resize(listGeomProperties.size());
indices.resize(listGeomProperties.size());
emission.resize(listGeomProperties.size());
ambients.resize(listGeomProperties.size());
diffuses.resize(listGeomProperties.size());
specular.resize(listGeomProperties.size());
index = 0;
FOREACHC(it, listGeomProperties) {
vertices[index].resize(it->vertices.size());
@ -1062,10 +1063,20 @@ namespace urdf{
for(size_t i = 0; i < it->indices.size(); ++i) {
indices[index][i] = it->indices[i];
}
emission[index] = it->emissionColor;
ambients[index] = it->ambientColor;
diffuses[index] = it->diffuseColor;
specular[index] = it->specularColor;
// workaround for mesh_loader.cpp:421
// Most of are DAE files don't have ambient color defined
ambients[index].r *= 0.5; ambients[index].g *= 0.5; ambients[index].b *= 0.5;
if ( ambients[index].r == 0.0 ) {
ambients[index].r = 0.0001;
}
if ( ambients[index].g == 0.0 ) {
ambients[index].g = 0.0001;
}
if ( ambients[index].b == 0.0 ) {
ambients[index].b = 0.0001;
}
index++;
}
@ -1099,9 +1110,6 @@ namespace urdf{
<profile_COMMON>\n\
<technique sid=\"common\">\n\
<phong>\n\
<emission>\n\
<color>%f %f %f %f</color>\n\
</emission>\n\
<ambient>\n\
<color>%f %f %f %f</color>\n\
</ambient>\n\
@ -1109,27 +1117,12 @@ namespace urdf{
<color>%f %f %f %f</color>\n\
</diffuse>\n\
<specular>\n\
<color>%f %f %f %f</color>\n\
<color>0 0 0 1</color>\n\
</specular>\n\
</phong>\n\
</technique>\n\
</profile_COMMON>\n\
</effect>\n")%i%emission[i].r%emission[i].g%emission[i].b%emission[i].a%ambients[i].r%ambients[i].g%ambients[i].b%ambients[i].a%diffuses[i].r%diffuses[i].g%diffuses[i].b%diffuses[i].a%specular[i].r%specular[i].g%specular[i].b%specular[i].a);
std::cout << str(boost::format("\
%d\n\
<emission>\n\
<color>%f %f %f %f</color>\n\
</emission>\n\
<ambient>\n\
<color>%f %f %f %f</color>\n\
</ambient>\n\
<diffuse>\n\
<color>%f %f %f %f</color>\n\
</diffuse>\n\
<specular>\n\
<color>%f %f %f %f</color>\n\
</specular>\n\
")%i%emission[i].r%emission[i].g%emission[i].b%emission[i].a%ambients[i].r%ambients[i].g%ambients[i].b%ambients[i].a%diffuses[i].r%diffuses[i].g%diffuses[i].b%diffuses[i].a%specular[i].r%specular[i].g%specular[i].b%specular[i].a);
</effect>\n")%i%ambients[i].r%ambients[i].g%ambients[i].b%ambients[i].a%diffuses[i].r%diffuses[i].g%diffuses[i].b%diffuses[i].a);
}
daedata << str(boost::format("\
</library_effects>\n\
@ -1337,13 +1330,6 @@ namespace urdf{
if( !!peffect ) {
domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast<domProfile_common::domTechnique::domPhong>(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID())));
if( !!pphong ) {
if( !!pphong->getEmission() && !!pphong->getEmission()->getColor() ) {
domFx_color c = pphong->getEmission()->getColor()->getValue();
geom.emissionColor.r = c[0];
geom.emissionColor.g = c[1];
geom.emissionColor.b = c[2];
geom.emissionColor.a = c[3];
}
if( !!pphong->getAmbient() && !!pphong->getAmbient()->getColor() ) {
domFx_color c = pphong->getAmbient()->getColor()->getValue();
geom.ambientColor.r = c[0];
@ -1358,13 +1344,6 @@ namespace urdf{
geom.diffuseColor.b = c[2];
geom.diffuseColor.a = c[3];
}
if( !!pphong->getSpecular() && !!pphong->getSpecular()->getColor() ) {
domFx_color c = pphong->getSpecular()->getColor()->getValue();
geom.specularColor.r = c[0];
geom.specularColor.g = c[1];
geom.specularColor.b = c[2];
geom.specularColor.a = c[3];
}
}
}
}