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support multiple material for one link #812

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support multiple material for one link #812

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36 changes: 27 additions & 9 deletions src/rviz/robot/robot_link.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -438,7 +438,7 @@ void RobotLink::updateVisibility()
}
}

Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link, const std::string material_name)
{
if (!link->visual || !link->visual->material)
{
Expand All @@ -451,17 +451,25 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)

Ogre::MaterialPtr mat = Ogre::MaterialManager::getSingleton().create(ss.str(), ROS_PACKAGE_NAME);
mat->getTechnique(0)->setLightingEnabled(true);
if (link->visual->material->texture_filename.empty())

boost::shared_ptr<urdf::Visual> visual = link->visual;
std::map<std::string, boost::shared_ptr<std::vector<boost::shared_ptr<urdf::Visual > > > >::const_iterator vis = link->visual_groups.find(material_name);
if ( vis != link->visual_groups.end() ) {
visual = vis->second->begin()[0];
if ( ! visual->material ) visual = link->visual; // if link does not have material, use default one
}

if (visual->material->texture_filename.empty())
{
const urdf::Color& col = link->visual->material->color;
const urdf::Color& col = visual->material->color;
mat->getTechnique(0)->setAmbient(col.r * 0.5, col.g * 0.5, col.b * 0.5);
mat->getTechnique(0)->setDiffuse(col.r, col.g, col.b, col.a);

material_alpha_ = col.a;
}
else
{
std::string filename = link->visual->material->texture_filename;
std::string filename = visual->material->texture_filename;
if (!Ogre::TextureManager::getSingleton().resourceExists(filename))
{
resource_retriever::Retriever retriever;
Expand Down Expand Up @@ -506,7 +514,7 @@ Ogre::MaterialPtr RobotLink::getMaterialForLink( const urdf::LinkConstPtr& link)
return mat;
}

void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, const std::string material_name, Ogre::SceneNode* scene_node, Ogre::Entity*& entity)
{
entity = NULL; // default in case nothing works.
Ogre::SceneNode* offset_node = scene_node->createChildSceneNode();
Expand Down Expand Up @@ -618,7 +626,17 @@ void RobotLink::createEntityForGeometryElement(const urdf::LinkConstPtr& link, c

for (uint32_t i = 0; i < entity->getNumSubEntities(); ++i)
{
default_material_ = getMaterialForLink(link, material_name);
static int count = 0;
std::stringstream ss;
ss << default_material_->getName() << count++ << "Robot";
std::string cloned_name = ss.str();

default_material_ = default_material_->clone(cloned_name);
default_material_name_ = default_material_->getName();

// Assign materials only if the submesh does not have one already

Ogre::SubEntity* sub = entity->getSubEntity(i);
const std::string& material_name = sub->getMaterialName();

Expand Down Expand Up @@ -658,7 +676,7 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
if( collision && collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
createEntityForGeometryElement( link, *collision->geometry, collision->origin, collision_node_, collision_mesh );
createEntityForGeometryElement( link, *collision->geometry, collision->origin, "", collision_node_, collision_mesh );
if( collision_mesh )
{
collision_meshes_.push_back( collision_mesh );
Expand All @@ -672,7 +690,7 @@ void RobotLink::createCollision(const urdf::LinkConstPtr& link)
if( !valid_collision_found && link->collision && link->collision->geometry )
{
Ogre::Entity* collision_mesh = NULL;
createEntityForGeometryElement( link, *link->collision->geometry, link->collision->origin, collision_node_, collision_mesh );
createEntityForGeometryElement( link, *link->collision->geometry, link->collision->origin, "", collision_node_, collision_mesh );
if( collision_mesh )
{
collision_meshes_.push_back( collision_mesh );
Expand All @@ -697,7 +715,7 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& link )
if( visual && visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
createEntityForGeometryElement( link, *visual->geometry, visual->origin, visual_node_, visual_mesh );
createEntityForGeometryElement( link, *visual->geometry, visual->origin, visual->material_name, visual_node_, visual_mesh );
if( visual_mesh )
{
visual_meshes_.push_back( visual_mesh );
Expand All @@ -711,7 +729,7 @@ void RobotLink::createVisual(const urdf::LinkConstPtr& link )
if( !valid_visual_found && link->visual && link->visual->geometry )
{
Ogre::Entity* visual_mesh = NULL;
createEntityForGeometryElement( link, *link->visual->geometry, link->visual->origin, visual_node_, visual_mesh );
createEntityForGeometryElement( link, *link->visual->geometry, link->visual->origin, link->visual->material_name, visual_node_, visual_mesh );
if( visual_mesh )
{
visual_meshes_.push_back( visual_mesh );
Expand Down
4 changes: 2 additions & 2 deletions src/rviz/robot/robot_link.h
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Original file line number Diff line number Diff line change
Expand Up @@ -160,12 +160,12 @@ private Q_SLOTS:
private:
void setRenderQueueGroup( Ogre::uint8 group );
bool getEnabled() const;
void createEntityForGeometryElement( const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );
void createEntityForGeometryElement( const urdf::LinkConstPtr& link, const urdf::Geometry& geom, const urdf::Pose& origin, const std::string material_name, Ogre::SceneNode* scene_node, Ogre::Entity*& entity );

void createVisual( const urdf::LinkConstPtr& link);
void createCollision( const urdf::LinkConstPtr& link);
void createSelection();
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link );
Ogre::MaterialPtr getMaterialForLink( const urdf::LinkConstPtr& link, const std::string material_name = "" );


protected:
Expand Down