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kdl_parser
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resolve conflict

This commit is contained in:
YoheiKakiuchi 2013-06-04 05:16:19 +09:00 committed by Ioan Sucan
parent fbbd554b28
commit 77717c68bc
1 changed files with 76 additions and 23 deletions
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67
collada_urdf/src/collada_urdf.cpp
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@ -1154,7 +1154,49 @@ protected:
geometry_origin = plink->collision->origin; geometry_origin = plink->collision->origin;
} }
urdf::Pose geometry_origin_inv = _poseInverse(geometry_origin);
if( !!geometry ) { if( !!geometry ) {
bool write_visual = false;
if ( !!plink->visual ) {
if (plink->visual_groups.size() > 0) {
std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Visual > > > >::const_iterator def_group
= plink->visual_groups.find("default");
if (def_group != plink->visual_groups.end()) {
std::cerr << "found default visual group" << std::endl;
if (def_group->second->size() > 1) {
std::cerr << "visual group size = " << def_group->second->size() << std::endl;
int igeom = 0;
for (std::vector<boost::shared_ptr<urdf::Visual > >::const_iterator it = def_group->second->begin();
it != def_group->second->end(); it++) {
// geom
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
igeom++;
domGeometryRef pdomgeom;
if ( it != def_group->second->begin() ) {
urdf::Pose org_trans = _poseMult(geometry_origin_inv, (*it)->origin);
pdomgeom = _WriteGeometry((*it)->geometry, geomid, &org_trans);
} else {
pdomgeom = _WriteGeometry((*it)->geometry, geomid);
}
domInstance_geometryRef pinstgeom = daeSafeCast<domInstance_geometry>(pnode->add(COLLADA_ELEMENT_INSTANCE_GEOMETRY));
pinstgeom->setUrl((string("#") + geomid).c_str());
// material
_WriteMaterial(pdomgeom->getID(), (*it)->material);
domBind_materialRef pmat = daeSafeCast<domBind_material>(pinstgeom->add(COLLADA_ELEMENT_BIND_MATERIAL));
domBind_material::domTechnique_commonRef pmattec = daeSafeCast<domBind_material::domTechnique_common>(pmat->add(COLLADA_ELEMENT_TECHNIQUE_COMMON));
domInstance_materialRef pinstmat = daeSafeCast<domInstance_material>(pmattec->add(COLLADA_ELEMENT_INSTANCE_MATERIAL));
pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat")));
pinstmat->setSymbol("mat0");
write_visual = true;
}
}
}
}
}
if (!write_visual) {
std::cerr << "use default visual 1" << std::endl;
// just 1 visual
int igeom = 0; int igeom = 0;
string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom)); string geomid = _ComputeId(str(boost::format("g%s_%s_geom%d")%strModelUri%linksid%igeom));
domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid); domGeometryRef pdomgeom = _WriteGeometry(geometry, geomid);
@ -1169,9 +1211,9 @@ protected:
pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat"))); pinstmat->setTarget(xsAnyURI(*pdomgeom, string("#")+geomid+string("_mat")));
pinstmat->setSymbol("mat0"); pinstmat->setSymbol("mat0");
} }
}
_WriteTransformation(pnode, geometry_origin); _WriteTransformation(pnode, geometry_origin);
urdf::Pose geometry_origin_inv = _poseInverse(geometry_origin);
// process all children // process all children
FOREACHC(itjoint, plink->child_joints) { FOREACHC(itjoint, plink->child_joints) {
@ -1236,14 +1278,14 @@ protected:
return out; return out;
} }
domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id) domGeometryRef _WriteGeometry(boost::shared_ptr<urdf::Geometry> geometry, const std::string& geometry_id, urdf::Pose *org_trans = NULL)
{ {
domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY)); domGeometryRef cgeometry = daeSafeCast<domGeometry>(_geometriesLib->add(COLLADA_ELEMENT_GEOMETRY));
cgeometry->setId(geometry_id.c_str()); cgeometry->setId(geometry_id.c_str());
switch (geometry->type) { switch (geometry->type) {
case urdf::Geometry::MESH: { case urdf::Geometry::MESH: {
urdf::Mesh* urdf_mesh = (urdf::Mesh*) geometry.get(); urdf::Mesh* urdf_mesh = (urdf::Mesh*) geometry.get();
_loadMesh(urdf_mesh->filename, cgeometry, urdf_mesh->scale); _loadMesh(urdf_mesh->filename, cgeometry, urdf_mesh->scale, org_trans);
break; break;
} }
case urdf::Geometry::SPHERE: { case urdf::Geometry::SPHERE: {
@ -1446,7 +1488,7 @@ protected:
pacc->setCount(parray->getCount()); pacc->setCount(parray->getCount());
} }
void _loadMesh(std::string const& filename, domGeometryRef pdomgeom, const urdf::Vector3& scale) void _loadMesh(std::string const& filename, domGeometryRef pdomgeom, const urdf::Vector3& scale, urdf::Pose *org_trans)
{ {
const aiScene* scene = _importer.ReadFile(filename, aiProcess_SortByPType|aiProcess_Triangulate); //|aiProcess_GenNormals|aiProcess_GenUVCoords|aiProcess_FlipUVs); const aiScene* scene = _importer.ReadFile(filename, aiProcess_SortByPType|aiProcess_Triangulate); //|aiProcess_GenNormals|aiProcess_GenUVCoords|aiProcess_FlipUVs);
if( !scene ) { if( !scene ) {
@ -1491,11 +1533,11 @@ protected:
pvertinput->setSemantic("POSITION"); pvertinput->setSemantic("POSITION");
pvertinput->setSource(domUrifragment(*pvertsource, string("#")+string(pvertsource->getID()))); pvertinput->setSource(domUrifragment(*pvertsource, string("#")+string(pvertsource->getID())));
} }
_buildAiMesh(scene,scene->mRootNode,pdommesh,parray, pdomgeom->getID(),scale); _buildAiMesh(scene,scene->mRootNode,pdommesh,parray, pdomgeom->getID(),scale,org_trans);
pacc->setCount(parray->getCount()); pacc->setCount(parray->getCount());
} }
void _buildAiMesh(const aiScene* scene, aiNode* node, domMeshRef pdommesh, domFloat_arrayRef parray, const string& geomid, const urdf::Vector3& scale) void _buildAiMesh(const aiScene* scene, aiNode* node, domMeshRef pdommesh, domFloat_arrayRef parray, const string& geomid, const urdf::Vector3& scale, urdf::Pose *org_trans = NULL)
{ {
if( !node ) { if( !node ) {
return; return;
@ -1527,11 +1569,22 @@ protected:
for (uint32_t j = 0; j < input_mesh->mNumVertices; j++) { for (uint32_t j = 0; j < input_mesh->mNumVertices; j++) {
aiVector3D p = input_mesh->mVertices[j]; aiVector3D p = input_mesh->mVertices[j];
p *= transform; p *= transform;
if (org_trans) {
urdf::Vector3 vv;
vv.x = p.x*scale.x;
vv.y = p.y*scale.y;
vv.z = p.z*scale.z;
urdf::Vector3 nv = _poseMult(*org_trans, vv);
parray->getValue().append(nv.x);
parray->getValue().append(nv.y);
parray->getValue().append(nv.z);
} else {
parray->getValue().append(p.x*scale.x); parray->getValue().append(p.x*scale.x);
parray->getValue().append(p.y*scale.y); parray->getValue().append(p.y*scale.y);
parray->getValue().append(p.z*scale.z); parray->getValue().append(p.z*scale.z);
} }
} }
}
// in order to save space, separate triangles from poly lists // in order to save space, separate triangles from poly lists
@ -1612,7 +1665,7 @@ protected:
} }
for (uint32_t i=0; i < node->mNumChildren; ++i) { for (uint32_t i=0; i < node->mNumChildren; ++i) {
_buildAiMesh(scene, node->mChildren[i], pdommesh,parray,geomid,scale); _buildAiMesh(scene, node->mChildren[i], pdommesh,parray,geomid,scale,org_trans);
} }
} }