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keep backward compatibility, add glvertices slot to collada-body #156

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merged 1 commit into from
Nov 26, 2015
Merged

keep backward compatibility, add glvertices slot to collada-body #156

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13 changes: 4 additions & 9 deletions euscollada/src/collada2eus.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -65,8 +65,7 @@ void writeTriangle(FILE *fp, domGeometry *thisGeometry, const char* robot_name)
fprintf(fp, "(defmethod %s_%s\n", robot_name, thisGeometry->getId());
if ( thisMesh == NULL || triangleElementCount == 0 ) {
fprintf(fp, " (:init (&key (name))\n");
fprintf(fp, " (replace-object self (make-cube 10 10 10))\n");
fprintf(fp, " (if name (send self :name name))\n");
fprintf(fp, " (send-super :init :name name)");
fprintf(fp, " self)\n");
fprintf(fp, " )\n");
return;
Expand All @@ -76,9 +75,9 @@ void writeTriangle(FILE *fp, domGeometry *thisGeometry, const char* robot_name)
} else {
fprintf(fp, " (:init (&key (name))\n");
}
fprintf(fp, " (replace-object self (send self :qhull-faceset))\n");
fprintf(fp, " (if name (send self :name name))\n");
fprintf(fp, " (send self :def-gl-vertices)\n");
fprintf(fp, " (send-super :init :name name :replace-obj (send self :qhull-faceset))\n");
fprintf(fp, " (send self :assoc gl::aglvertices)\n");
fprintf(fp, " self)\n");

fprintf(fp, " (:def-gl-vertices ()\n");
Expand Down Expand Up @@ -303,11 +302,7 @@ void writeTriangle(FILE *fp, domGeometry *thisGeometry, const char* robot_name)
}
fprintf(fp, " )))\n");
fprintf(fp, " (send gl::aglvertices :calc-normals)\n");
if (points.size() > 0) {
fprintf(fp, " (send self :assoc gl::aglvertices)\n gl::aglvertices)\n");
} else {
fprintf(fp, " gl::aglvertices)\n");
}
fprintf(fp, " gl::aglvertices)\n");

// do qhull
if ( points.size() > 0 ) {
Expand Down
20 changes: 11 additions & 9 deletions euscollada/src/collada2eus_urdfmodel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1313,7 +1313,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
string gname(name);
if (g->type == Geometry::MESH) gname = ((Mesh *)(g.get()))->filename;
fprintf(fp, " (:_make_instance_%s ()\n", name.c_str());
fprintf(fp, " (let (geom glvertices qhull\n");
fprintf(fp, " (let (geom glv qhull\n");
fprintf(fp, " (local-cds (make-coords :pos ");
fprintf(fp, "(float-vector "FLOAT_PRECISION_FINE" "FLOAT_PRECISION_FINE" "FLOAT_PRECISION_FINE")",
pose.position.x * 1000,
Expand Down Expand Up @@ -1352,21 +1352,21 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
Vector3 scale = ((Mesh *)(g.get()))->scale;
vector<coordT> points;
if (scene && scene->HasMeshes() && !use_loadable_mesh) {
fprintf(fp, " (setq glvertices\n");
fprintf(fp, " (setq glv\n");
fprintf(fp, " (instance gl::glvertices :init\n");
fprintf(fp, " (list ;; mesh list\n");
// TODO: use g->scale
printMesh(scene, scene->mRootNode, scale, material_name, points, true);
fprintf(fp, " )\n");
fprintf(fp, " ))\n");
fprintf(fp, " (send glvertices :transform local-cds)\n");
fprintf(fp, " (send glvertices :calc-normals)\n");
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals)\n");
} else if (scene && scene->HasMeshes()) {
fprintf(fp, " (setq glvertices (load-mesh-file (ros::resolve-ros-path \"%s\")\n", gname.c_str());
fprintf(fp, " (setq glv (load-mesh-file (ros::resolve-ros-path \"%s\")\n", gname.c_str());
fprintf(fp, " :scale %f :process-max-quality t))\n", scale.x*1000);
printMesh(scene, scene->mRootNode, scale, material_name, points, false);
fprintf(fp, " (send glvertices :transform local-cds)\n");
fprintf(fp, " (send glvertices :calc-normals)\n");
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals)\n");
} else {
// error
}
Expand Down Expand Up @@ -1416,10 +1416,12 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
}
}
}
if (g->type == Geometry::MESH) {
fprintf(fp, " (setq (geom . gl::aglvertices) glv)\n");
}
fprintf(fp, " (setq geom (instance collada-body :init :replace-obj qhull :name \"%s\"))\n", gname.c_str());
if (g->type == Geometry::MESH) {
fprintf(fp, " (send geom :assoc glvertices)\n");
fprintf(fp, " (setq (geom . gl::aglvertices) glvertices)\n");
fprintf(fp, " (send geom :assoc glv)\n");
}
fprintf(fp, " geom))\n");
}
Expand Down
3 changes: 2 additions & 1 deletion euscollada/src/euscollada-robot.l
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Original file line number Diff line number Diff line change
Expand Up @@ -99,14 +99,15 @@
;; This euscollada-body class is for bodies in robot model converted from collada files.
(defclass collada-body
:super gl::glbody
:slots ()
:slots (glvertices) ;; glvertices slot for backward compatibility
)
(defmethod collada-body
(:init (&key (name) (replace-obj))
(if replace-obj
(replace-object self replace-obj)
(replace-object self (make-cube 10 10 10)))
(if name (send self :name name))
(setq glvertices gl::aglvertices)
self)
(:change-visual
(&optional (visual :convex))
Expand Down