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When a URDF link has multiple visual tags, use appropriate material for each #1329

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When a URDF link has multiple visual tags, use appropriate material for each #1329

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15 changes: 12 additions & 3 deletions rviz_default_plugins/include/rviz_default_plugins/robot/robot_link.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -179,13 +179,18 @@ private Q_SLOTS:
Ogre::Entity * createEntityForGeometryElement(
const urdf::LinkConstSharedPtr & link,
const urdf::Geometry & geom, const urdf::Pose & origin,
std::string material_name, Ogre::SceneNode * scene_node);
Ogre::SceneNode * scene_node);
void assignMaterialsToEntities(
const urdf::LinkConstSharedPtr & link,
const std::string & material_name,
const Ogre::Entity * entity);
Ogre::MaterialPtr getMaterialForLink(
const urdf::LinkConstSharedPtr & link, std::string material_name = "");
Ogre::MaterialPtr getMaterialForVisual(const urdf::VisualSharedPtr & visual);
void getMaterialForVisualizable(Ogre::Entity * entity, const urdf::VisualSharedPtr & visual);
void getMaterialForVisualizable(
Ogre::Entity * /* entity */,
const urdf::CollisionSharedPtr & /* collision */ ) {};
urdf::VisualSharedPtr getVisualWithMaterial(
const urdf::LinkConstSharedPtr & link, const std::string & material_name) const;
void loadMaterialFromTexture(
Expand Down Expand Up @@ -214,8 +219,10 @@ private Q_SLOTS:
T link_visual_element = vector_element;
if (link_visual_element && link_visual_element->geometry) {
Ogre::Entity * mesh = createEntityForGeometryElement(
link, *link_visual_element->geometry, link_visual_element->origin, "", scene_node);
link, *link_visual_element->geometry, link_visual_element->origin, scene_node);
if (mesh) {
getMaterialForVisualizable(mesh, link_visual_element);
assignMaterialsToEntities(link, "", mesh);
meshes_vector.push_back(mesh);
valid_visualizable_found = true;
}
Expand All @@ -224,8 +231,10 @@ private Q_SLOTS:

if (!valid_visualizable_found && visualizable_element && visualizable_element->geometry) {
Ogre::Entity * mesh = createEntityForGeometryElement(
link, *visualizable_element->geometry, visualizable_element->origin, "", scene_node);
link, *visualizable_element->geometry, visualizable_element->origin, scene_node);
if (mesh) {
getMaterialForVisualizable(mesh, visualizable_element);
assignMaterialsToEntities(link, "", mesh);
meshes_vector.push_back(mesh);
}
}
Expand Down
32 changes: 24 additions & 8 deletions rviz_default_plugins/src/rviz_default_plugins/robot/robot_link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -597,7 +597,6 @@ Ogre::Entity * RobotLink::createEntityForGeometryElement(
const urdf::LinkConstSharedPtr & link,
const urdf::Geometry & geom,
const urdf::Pose & origin,
const std::string material_name,
Ogre::SceneNode * scene_node)
{
Ogre::Entity * entity = nullptr; // default in case nothing works.
Expand Down Expand Up @@ -702,7 +701,6 @@ Ogre::Entity * RobotLink::createEntityForGeometryElement(
offset_node->setPosition(offset_position);
offset_node->setOrientation(offset_orientation);

assignMaterialsToEntities(link, material_name, entity);
}
return entity;
}
Expand Down Expand Up @@ -759,14 +757,19 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink(
return Ogre::MaterialManager::getSingleton().getByName("RVIZ/ShadedRed");
}

urdf::VisualSharedPtr visual = getVisualWithMaterial(link, material_name);

return getMaterialForVisual(visual);
}

Ogre::MaterialPtr RobotLink::getMaterialForVisual(const urdf::VisualSharedPtr & visual)
{
static int count = 0;
std::string link_material_name = "Robot Link Material" + std::to_string(count++);
std::string link_material_name = "Robot Material" + std::to_string(count++);

auto material_for_link =
rviz_rendering::MaterialManager::createMaterialWithShadowsAndLighting(link_material_name);

urdf::VisualSharedPtr visual = getVisualWithMaterial(link, material_name);

if (visual->material->texture_filename.empty()) {
const urdf::Color & color = visual->material->color;
material_for_link->getTechnique(0)->setAmbient(color.r * 0.5f, color.g * 0.5f, color.b * 0.5f);
Expand All @@ -780,14 +783,27 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink(
return material_for_link;
}

void RobotLink::getMaterialForVisualizable(
Ogre::Entity * entity,
const urdf::VisualSharedPtr & visual)
{
if (!visual->material_name.empty() ||
(visual->material && !visual->material->texture_filename.empty()))
{
Ogre::MaterialPtr material = getMaterialForVisual(visual);
// Sets uniformly for all subentities
entity -> setMaterial(material);
entity -> setMaterialName(material->getName());
}
}

urdf::VisualSharedPtr RobotLink::getVisualWithMaterial(
const urdf::LinkConstSharedPtr & link, const std::string & material_name) const
{
urdf::VisualSharedPtr visual = link->visual;
for (const auto & visual_array_element : link->visual_array) {
if (visual_array_element &&
!material_name.empty() &&
visual_array_element->material_name == material_name)
if (visual_array_element && !visual_array_element->material_name.empty() &&
(material_name.empty() || visual_array_element->material_name == material_name))
{
visual = visual_array_element;
break;
Expand Down