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kdl_parser
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#5237 add color suport for collada

This commit is contained in:
k-okada 2011-11-14 14:50:48 +09:00
parent 08a6ecc59f
commit 9565df3dd2
1 changed files with 111 additions and 37 deletions
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148
collada_parser/src/collada_parser.cpp
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@ -174,7 +174,7 @@ namespace urdf{
///< for sphere it is radius ///< for sphere it is radius
///< for cylinder, first 2 values are radius and height ///< for cylinder, first 2 values are radius and height
///< for trimesh, none ///< for trimesh, none
Color diffuseColor, ambientColor; ///< hints for how to color the meshes Color emissionColor, diffuseColor, ambientColor, specularColor; ///< hints for how to color the meshes
std::vector<Vector3> vertices; std::vector<Vector3> vertices;
std::vector<int> indices; std::vector<int> indices;
@ -769,6 +769,13 @@ namespace urdf{
plink.reset(new Link()); plink.reset(new Link());
plink->name = linkname; plink->name = linkname;
plink->visual.reset(new Visual()); plink->visual.reset(new Visual());
plink->visual->material_name = "";
plink->visual->material.reset(new Material());
plink->visual->material->name = "Red";
plink->visual->material->color.r = 0.0;
plink->visual->material->color.g = 1.0;
plink->visual->material->color.b = 0.0;
plink->visual->material->color.a = 1.0;
_model->links_.insert(std::make_pair(linkname,plink)); _model->links_.insert(std::make_pair(linkname,plink));
} }
@ -1026,18 +1033,34 @@ namespace urdf{
geometry->scale.y = 1; geometry->scale.y = 1;
geometry->scale.z = 1; geometry->scale.z = 1;
std::vector<Vector3> vertices; std::vector<std::vector<Vector3> > vertices;
std::vector<int> indices; 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) { FOREACHC(it, listGeomProperties) {
int voffset = vertices.size(), ioffset = indices.size(); vertices[index].resize(it->vertices.size());
vertices.resize(vertices.size()+it->vertices.size());
for(size_t i = 0; i < it->vertices.size(); ++i) { for(size_t i = 0; i < it->vertices.size(); ++i) {
vertices[voffset+i] = _poseMult(it->_t, it->vertices[i]); vertices[index][i] = _poseMult(it->_t, it->vertices[i]);
} }
indices.resize(indices.size()+it->indices.size()); indices[index].resize(it->indices.size());
for(size_t i = 0; i < it->indices.size(); ++i) { for(size_t i = 0; i < it->indices.size(); ++i) {
indices[ioffset+i] = voffset+it->indices[i]; indices[index][i] = it->indices[i];
} }
emission[index] = it->emissionColor;
ambients[index] = it->ambientColor;
diffuses[index] = it->diffuseColor;
specular[index] = it->specularColor;
index++;
} }
// have to save the geometry into individual collada 1.4 files since URDF does not allow triangle meshes to be specified // have to save the geometry into individual collada 1.4 files since URDF does not allow triangle meshes to be specified
@ -1054,37 +1077,68 @@ namespace urdf{
<unit name=\"meter\" meter=\"1.0\"/>\n\ <unit name=\"meter\" meter=\"1.0\"/>\n\
<up_axis>Z_UP</up_axis>\n\ <up_axis>Z_UP</up_axis>\n\
</asset>\n\ </asset>\n\
<library_materials>\n\ <library_materials>\n"));
<material id=\"blinn2\" name=\"blinn2\">\n\ for(unsigned int i=0; i < index; i++){
<instance_effect url=\"#blinn2-fx\"/>\n\ daedata << str(boost::format("\
</material>\n\ <material id=\"blinn2%d\" name=\"blinn2%d\">\n\
<instance_effect url=\"#blinn2-fx%d\"/>\n\
</material>\n")%i%i%i);
}
daedata << "\
</library_materials>\n\ </library_materials>\n\
<library_effects>\n\ <library_effects>\n";
<effect id=\"blinn2-fx\">\n\ for(unsigned int i=0; i < index; i++){
daedata << str(boost::format("\
<effect id=\"blinn2-fx%d\">\n\
<profile_COMMON>\n\ <profile_COMMON>\n\
<technique sid=\"common\">\n\ <technique sid=\"common\">\n\
<phong>\n\ <phong>\n\
<emission>\n\
<color>%f %f %f %f</color>\n\
</emission>\n\
<ambient>\n\ <ambient>\n\
<color>0.0 0.0 0.1 1</color>\n\ <color>%f %f %f %f</color>\n\
</ambient>\n\ </ambient>\n\
<diffuse>\n\ <diffuse>\n\
<color>0.8 0.8 0.8 1</color>\n\ <color>%f %f %f %f</color>\n\
</diffuse>\n\ </diffuse>\n\
<specular>\n\
<color>%f %f %f %f</color>\n\
</specular>\n\
</phong>\n\ </phong>\n\
</technique>\n\ </technique>\n\
</profile_COMMON>\n\ </profile_COMMON>\n\
</effect>\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);
}
daedata << str(boost::format("\
</library_effects>\n\ </library_effects>\n\
<library_geometries>\n\ <library_geometries>\n"));
<geometry id=\"base2_M1KShape\" name=\"base2_M1KShape\">\n\ // fill with vertices
for(unsigned int i=0; i < index; i++){
daedata << str(boost::format("\
<geometry id=\"base2_M1KShape%d\" name=\"base2_M1KShape%d\">\n\
<mesh>\n\ <mesh>\n\
<source id=\"geo0.positions\">\n\ <source id=\"geo0.positions\">\n\
<float_array id=\"geo0.positions-array\" count=\"%d\">")%(vertices.size()*3)); <float_array id=\"geo0.positions-array\" count=\"%d\">")%i%i%(vertices[i].size()*3));
// fill with vertices FOREACH(it,vertices[i]) {
FOREACH(it,vertices) { daedata << it->x << " " << it->y << " " << it->z << " ";
daedata << it->x << " " << it->y << " " << it->z << " "; }
} daedata << str(boost::format("\n\
daedata << str(boost::format("\n\
</float_array>\n\ </float_array>\n\
<technique_common>\n\ <technique_common>\n\
<accessor count=\"%d\" source=\"#geo0.positions-array\" stride=\"3\">\n\ <accessor count=\"%d\" source=\"#geo0.positions-array\" stride=\"3\">\n\
@ -1099,33 +1153,39 @@ namespace urdf{
</vertices>\n\ </vertices>\n\
<triangles count=\"%d\" material=\"lambert2SG\">\n\ <triangles count=\"%d\" material=\"lambert2SG\">\n\
<input offset=\"0\" semantic=\"VERTEX\" source=\"#geo0.vertices\"/>\n\ <input offset=\"0\" semantic=\"VERTEX\" source=\"#geo0.vertices\"/>\n\
<p>")%vertices.size()%(indices.size()/3)); <p>")%vertices[i].size()%(indices[i].size()/3));
// fill with indices // fill with indices
FOREACH(it,indices) { FOREACH(it,indices[i]) {
daedata << *it << " "; daedata << *it << " ";
} }
daedata << str(boost::format("</p>\n\ daedata << str(boost::format("</p>\n\
</triangles>\n\ </triangles>\n\
</mesh>\n\ </mesh>\n\
</geometry>\n\ </geometry>\n"));
}
daedata << str(boost::format("\
</library_geometries>\n\ </library_geometries>\n\
<library_visual_scenes>\n\ <library_visual_scenes>\n\
<visual_scene id=\"VisualSceneNode\" name=\"base1d_med\">\n\ <visual_scene id=\"VisualSceneNode\" name=\"base1d_med\">\n\
<node id=\"%s\" name=\"%s\" type=\"NODE\">\n\ <node id=\"%s\" name=\"%s\" type=\"NODE\">\n")%name%name);
<instance_geometry url=\"#base2_M1KShape\">\n\ for(unsigned int i=0; i < index; i++){
daedata << str(boost::format("\
<instance_geometry url=\"#base2_M1KShape%i\">\n\
<bind_material>\n\ <bind_material>\n\
<technique_common>\n\ <technique_common>\n\
<instance_material symbol=\"lambert2SG\" target=\"#blinn2\"/>\n\ <instance_material symbol=\"lambert2SG\" target=\"#blinn2%i\"/>\n\
</technique_common>\n\ </technique_common>\n\
</bind_material>\n\ </bind_material>\n\
</instance_geometry>\n\ </instance_geometry>\n")%i%i);
}
daedata << str(boost::format("\
</node>\n\ </node>\n\
</visual_scene>\n\ </visual_scene>\n\
</library_visual_scenes>\n\ </library_visual_scenes>\n\
<scene>\n\ <scene>\n\
<instance_visual_scene url=\"#VisualSceneNode\"/>\n\ <instance_visual_scene url=\"#VisualSceneNode\"/>\n\
</scene>\n\ </scene>\n\
</COLLADA>")%name%name); </COLLADA>"));
#ifdef HAVE_MKSTEMPS #ifdef HAVE_MKSTEMPS
geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name); geometry->filename = str(boost::format("/tmp/collada_model_reader_%s_XXXXXX.dae")%name);
@ -1271,6 +1331,13 @@ namespace urdf{
if( !!peffect ) { if( !!peffect ) {
domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast<domProfile_common::domTechnique::domPhong>(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID()))); domProfile_common::domTechnique::domPhongRef pphong = daeSafeCast<domProfile_common::domTechnique::domPhong>(peffect->getDescendant(daeElement::matchType(domProfile_common::domTechnique::domPhong::ID())));
if( !!pphong ) { 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() ) { if( !!pphong->getAmbient() && !!pphong->getAmbient()->getColor() ) {
domFx_color c = pphong->getAmbient()->getColor()->getValue(); domFx_color c = pphong->getAmbient()->getColor()->getValue();
geom.ambientColor.r = c[0]; geom.ambientColor.r = c[0];
@ -1285,6 +1352,13 @@ namespace urdf{
geom.diffuseColor.b = c[2]; geom.diffuseColor.b = c[2];
geom.diffuseColor.a = c[3]; 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];
}
} }
} }
} }