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kdl_parser
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collada_urdf: added materials

This commit is contained in:
tfield 2010-03-09 05:07:25 +00:00
parent 3bf18c4b6f
commit 642c69eabb
1 changed files with 17 additions and 3 deletions
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20
collada_urdf/src/urdf_to_collada.cpp
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@ -752,11 +752,24 @@ public:
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 effect = addEffect(geometry_id, ambient, diffuse);
// <material id="g1.link0.geom0.eff">
domMaterialRef material = daeSafeCast<domMaterial>(materialsLib_->createAndPlace(COLLADA_ELEMENT_MATERIAL));
string material_id = geometry_id + string(".mat");
material->setId(material_id.c_str());
{
// <instance_effect url="#g1.link0.geom0.eff"/>
domInstance_effectRef instance_effect = daeSafeCast<domInstance_effect>(material->createAndPlace(COLLADA_ELEMENT_INSTANCE_EFFECT));
string effect_id(effect->getId());
instance_effect->setUrl((string("#") + effect_id).c_str());
}
// </material>
}
}
}
@ -765,7 +778,8 @@ public:
{
// <effect id="g1.link0.geom0.eff">
domEffectRef effect = daeSafeCast<domEffect>(effectsLib_->createAndPlace(COLLADA_ELEMENT_EFFECT));
effect->setId((geometry_id + string(".eff")).c_str());
string effect_id = geometry_id + string(".eff");
effect->setId(effect_id.c_str());
{
// <profile_COMMON>
domProfile_commonRef profile = daeSafeCast<domProfile_common>(effect->createAndPlace(COLLADA_ELEMENT_PROFILE_COMMON));