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Finish handling complex dae
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@polyhobbyist
polyhobbyist committed Sep 25, 2023
1 parent 200800c commit b589a79
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Showing 4 changed files with 90 additions and 19 deletions.
13 changes: 6 additions & 7 deletions src/GeometryMesh.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -22,24 +22,21 @@ export class Mesh implements IGeometry {
// Get a pointer to the mesh
if (meshes.length > 0 && this.transform != undefined) {
this.meshes = meshes;
this.meshes[0].parent = this.transform;

// find the top level bone in skeletons
if (skeletons != undefined && skeletons.length > 0) {
let rootBone = skeletons[0].bones.find(b => b.getParent() == undefined);
if (rootBone != undefined) {
let t = rootBone.getTransformNode();
if (t != undefined) {
t.parent = this.transform;
//t.addRotation(0, 0, Math.PI).addRotation(Math.PI/2, 0, 0);
}
rootBone.returnToRest();
}
} else {

this.meshes.forEach(m => {
if (this.transform != undefined) {
m.addRotation(0, 0, Math.PI).addRotation(Math.PI/2, 0, 0);
m.parent = this.transform;
m.scaling = this.scale;

if (this.material != undefined && this.material.material != undefined) {
m.material = this.material.material;
}
Expand All @@ -52,12 +49,14 @@ export class Mesh implements IGeometry {

public create(scene: BABYLON.Scene, mat : Material | undefined) : void {
this.transform = new BABYLON.TransformNode("mesh_mesh", scene);
this.transform.scaling = this.scale;

this.material = mat;

if (this.uri.startsWith("file://"))
{
// Handle relative paths
var filePath = this.uri.substring(7);
var filePath = this.uri.substring(7);
if (!filePath.startsWith("/")) {
filePath = path.join(__dirname, filePath);
}
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82 changes: 79 additions & 3 deletions src/Render.ts
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Original file line number Diff line number Diff line change
Expand Up @@ -217,12 +217,88 @@ export async function RenderMain() {
<link name="base_link">
<visual>
<geometry>
<mesh filename="https://raw.githubusercontent.com/polyhobbyist/babylon-collada-loader/main/test/testdata/Chassis.dae" scale="1 1 1" />
<mesh filename="https://raw.githubusercontent.com/polyhobbyist/bb_description/main/meshes/dome.stl" scale="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
</robot>
`;
<link name="camera_link">
<visual>
<geometry>
<box size="0.01 0.01 0.001"/>
</geometry>
</visual>
</link>
<joint name="dome_to_camera_joint" type="fixed">
<parent link="base_link"/>
<child link="camera_link"/>
<origin xyz="0 0.12 0.08" rpy="2.093 0 0"/>
</joint>
<link name="front_depth_link">
<visual>
<geometry>
<box size="0.01 0.01 0.001"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="dome_to_front_depth_joint" type="fixed">
<parent link="base_link"/>
<child link="front_depth_link"/>
<origin xyz="0 0.11 0.09" rpy="2.093 0 0"/>
</joint>
<link name="left_depth_link">
<visual>
<geometry>
<box size="0.01 0.01 0.001"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="dome_to_left_depth_joint" type="fixed">
<parent link="base_link"/>
<child link="left_depth_link"/>
<origin xyz="0.11693 -0.067 0.05" rpy="1.047198 0.959931 0.436332"/>
</joint>
<link name="right_depth_link">
<visual>
<geometry>
<box size="0.01 0.01 0.001"/>
</geometry>
<material name="red"/>
</visual>
</link>
<joint name="dome_to_right_depth_joint" type="fixed">
<parent link="base_link"/>
<child link="right_depth_link"/>
<origin xyz="-0.11693 -0.067 0.05" rpy="1.047198 -0.959931 -0.436332"/>
</joint>
<link name="depth_link">
<visual>
<geometry>
<sphere radius="0.001"/>
</geometry>
</visual>
</link>
<joint name="dome_to_depth_joint" type="fixed">
<parent link="base_link"/>
<child link="depth_link"/>
<origin xyz="0 0 0" rpy="0 0 0"/>
</joint>
</robot>
`;

const canvas = document.getElementById("renderCanvas") as HTMLCanvasElement; // Get the canvas element
const engine = new BABYLON.Engine(canvas, true); // Generate the BABYLON 3D engine
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2 changes: 1 addition & 1 deletion test/testdata/basic_with_stl_mesh.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,7 @@
<link name="base_link">
<visual>
<geometry>
<mesh filename="file://../test/testdata/xyz_cube.stl" />
<mesh filename="https://raw.githubusercontent.com/polyhobbyist/babylon_ros/ea736e27ccd4df44096bc5c05bacaf5171c6b86a/test/testdata/xyz_cybe.stl" />
</geometry>
</visual>
</link>
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12 changes: 4 additions & 8 deletions test/testdata/r2.urdf
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Original file line number Diff line number Diff line change
Expand Up @@ -169,8 +169,7 @@
<visual>
<origin rpy="0.0 0 0" xyz="0 0 0"/>
<geometry>
<!-- mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/ -->
<cylinder length="0.1" radius="0.035"/>
<mesh filename="https://raw.githubusercontent.com/ros/urdf_tutorial/ros1/meshes/l_finger.dae"/>
</geometry>
</visual>
</link>
Expand All @@ -184,8 +183,7 @@
<visual>
<origin rpy="0.0 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<!-- mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/ -->
<cylinder length="0.1" radius="0.035"/>
<mesh filename="https://raw.githubusercontent.com/ros/urdf_tutorial/ros1/meshes/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
Expand All @@ -199,8 +197,7 @@
<visual>
<origin rpy="-3.1415 0 0" xyz="0 0 0"/>
<geometry>
<!-- mesh filename="package://urdf_tutorial/meshes/l_finger.dae"/ -->
<cylinder length="0.1" radius="0.035"/>
<mesh filename="https://raw.githubusercontent.com/ros/urdf_tutorial/ros1/meshes/l_finger.dae"/>
</geometry>
</visual>
</link>
Expand All @@ -214,8 +211,7 @@
<visual>
<origin rpy="-3.1415 0 0" xyz="0.09137 0.00495 0"/>
<geometry>
<!-- mesh filename="package://urdf_tutorial/meshes/l_finger_tip.dae"/ -->
<cylinder length="0.1" radius="0.035"/>
<mesh filename="https://raw.githubusercontent.com/ros/urdf_tutorial/ros1/meshes/l_finger_tip.dae"/>
</geometry>
</visual>
</link>
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