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fix color for deformables, if texture is not specified

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This commit is contained in:
Erwin Coumans
2020-09-13 16:07:42 -07:00
parent 9ae41971bc
commit f8288e029e
1 changed files with 20 additions and 16 deletions
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36
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
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@@ -8845,24 +8845,24 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
visualShape.m_linkIndex = -1;
visualShape.m_visualGeometryType = URDF_GEOM_MESH;
//dimensions just contains the scale
visualShape.m_dimensions[0] = scale;
visualShape.m_dimensions[1] = scale;
visualShape.m_dimensions[2] = scale;
visualShape.m_dimensions[0] = 1;
visualShape.m_dimensions[1] = 1;
visualShape.m_dimensions[2] = 1;
//filename
strncpy(visualShape.m_meshAssetFileName, relativeFileName, VISUAL_SHAPE_MAX_PATH_LEN);
visualShape.m_meshAssetFileName[VISUAL_SHAPE_MAX_PATH_LEN - 1] = 0;
//position and orientation
visualShape.m_localVisualFrame[0] = pos[0];
visualShape.m_localVisualFrame[1] = pos[1];
visualShape.m_localVisualFrame[2] = pos[2];
visualShape.m_localVisualFrame[3] = orn[0];
visualShape.m_localVisualFrame[4] = orn[1];
visualShape.m_localVisualFrame[5] = orn[2];
visualShape.m_localVisualFrame[6] = orn[3];
visualShape.m_localVisualFrame[0] = 0;
visualShape.m_localVisualFrame[1] = 0;
visualShape.m_localVisualFrame[2] = 0;
visualShape.m_localVisualFrame[3] = 0;
visualShape.m_localVisualFrame[4] = 0;
visualShape.m_localVisualFrame[5] = 0;
visualShape.m_localVisualFrame[6] = 1;
//color and ids to be set by the renderer
visualShape.m_rgbaColor[0] = 0;
visualShape.m_rgbaColor[1] = 0;
visualShape.m_rgbaColor[2] = 0;
visualShape.m_rgbaColor[0] = 1;
visualShape.m_rgbaColor[1] = 1;
visualShape.m_rgbaColor[2] = 1;
visualShape.m_rgbaColor[3] = 1;
visualShape.m_tinyRendererTextureId = -1;
visualShape.m_textureUniqueId = -1;
@@ -8870,12 +8870,16 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
if (meshData.m_gfxShape)
{
int texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
int texUid1 = -1;
if (meshData.m_textureHeight > 0 && meshData.m_textureWidth > 0 && meshData.m_textureImage1)
{
texUid1 = m_data->m_guiHelper->registerTexture(meshData.m_textureImage1, meshData.m_textureWidth, meshData.m_textureHeight);
}
visualShape.m_openglTextureId = texUid1;
int shapeUid1 = m_data->m_guiHelper->registerGraphicsShape(&meshData.m_gfxShape->m_vertices->at(0).xyzw[0], meshData.m_gfxShape->m_numvertices, &meshData.m_gfxShape->m_indices->at(0), meshData.m_gfxShape->m_numIndices, B3_GL_TRIANGLES, texUid1);
psb->getCollisionShape()->setUserIndex(shapeUid1);
float position[4] = { 0,0,0,0 };
float orientation [4] = { 0,0,0,1 };
float position[4] = { 0,0,0,1 };
float orientation[4] = { 0,0,0,1 };
float color[4] = { 1,1,1,1 };
float scaling[4] = { 1,1,1,1 };
int instanceUid = m_data->m_guiHelper->registerGraphicsInstance(shapeUid1, position, orientation, color, scaling);