diff options
Diffstat (limited to 'examples/Importers')
| -rw-r--r-- | examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp | 63 |
1 files changed, 29 insertions, 34 deletions
diff --git a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp index 3dd26eb4b..42cc102f4 100644 --- a/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp +++ b/examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp @@ -1284,45 +1284,40 @@ int BulletURDFImporter::convertLinkVisualShapes(int linkIndex, const char* pathP convertURDFToVisualShapeInternal(&vis, pathPrefix, localInertiaFrame.inverse() * childTrans, vertices, indices, textures,meshData); - if (m_data->m_flags&CUF_USE_MATERIAL_COLORS_FROM_MTL) + bool mtlOverridesUrdfColor = false; + if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) && + (meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR)) { - if ((meshData.m_flags & B3_IMPORT_MESH_HAS_RGBA_COLOR) && - (meshData.m_flags & B3_IMPORT_MESH_HAS_SPECULAR_COLOR)) + mtlOverridesUrdfColor = (m_data->m_flags & CUF_USE_MATERIAL_COLORS_FROM_MTL) != 0; + UrdfMaterialColor matCol; + if (m_data->m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL) { - UrdfMaterialColor matCol; - - if (m_data->m_flags&CUF_USE_MATERIAL_TRANSPARANCY_FROM_MTL) - { - matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0], - meshData.m_rgbaColor[1], - meshData.m_rgbaColor[2], - meshData.m_rgbaColor[3]); - } else - { - matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0], - meshData.m_rgbaColor[1], - meshData.m_rgbaColor[2], - 1); - } - - matCol.m_specularColor.setValue(meshData.m_specularColor[0], - meshData.m_specularColor[1], - meshData.m_specularColor[2]); - m_data->m_linkColors.insert(linkIndex, matCol); - } - } else - { - if (matPtr) + matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0], + meshData.m_rgbaColor[1], + meshData.m_rgbaColor[2], + meshData.m_rgbaColor[3]); + } else { - UrdfMaterial* const mat = *matPtr; - //printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]); - UrdfMaterialColor matCol; - matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor; - matCol.m_specularColor = mat->m_matColor.m_specularColor; - m_data->m_linkColors.insert(linkIndex, matCol); + matCol.m_rgbaColor.setValue(meshData.m_rgbaColor[0], + meshData.m_rgbaColor[1], + meshData.m_rgbaColor[2], + 1); } - } + matCol.m_specularColor.setValue(meshData.m_specularColor[0], + meshData.m_specularColor[1], + meshData.m_specularColor[2]); + m_data->m_linkColors.insert(linkIndex, matCol); + } + if (matPtr && !mtlOverridesUrdfColor) + { + UrdfMaterial* const mat = *matPtr; + //printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]); + UrdfMaterialColor matCol; + matCol.m_rgbaColor = mat->m_matColor.m_rgbaColor; + matCol.m_specularColor = mat->m_matColor.m_specularColor; + m_data->m_linkColors.insert(linkIndex, matCol); + } } } if (vertices.size() && indices.size()) |