diff --git a/VirtualRobot/Nodes/RobotNode.cpp b/VirtualRobot/Nodes/RobotNode.cpp
index e02ea25f2bd1f231b94de2d89a60885d7ccb778b..3ec10dcdc0ed0f5afe756a1df8eea000704f19cd 100644
--- a/VirtualRobot/Nodes/RobotNode.cpp
+++ b/VirtualRobot/Nodes/RobotNode.cpp
@@ -525,7 +525,11 @@ namespace VirtualRobot
}
}
- RobotNodePtr RobotNode::clone(RobotPtr newRobot, bool cloneChildren, RobotNodePtr initializeWithParent, CollisionCheckerPtr colChecker, float scaling)
+ RobotNodePtr RobotNode::clone(RobotPtr newRobot, bool cloneChildren,
+ RobotNodePtr initializeWithParent,
+ CollisionCheckerPtr colChecker,
+ float scaling,
+ bool preventCloningMeshesIfScalingIs1)
{
ReadLockPtr lock = getRobot()->getReadLock();
@@ -539,16 +543,17 @@ namespace VirtualRobot
VisualizationNodePtr clonedVisualizationNode;
+ const bool deepMeshClone = !preventCloningMeshesIfScalingIs1 || std::abs(scaling - 1) <= 0;
if (visualizationModel)
{
- clonedVisualizationNode = visualizationModel->clone(true, scaling);
+ clonedVisualizationNode = visualizationModel->clone(deepMeshClone, scaling);
}
CollisionModelPtr clonedCollisionModel;
if (collisionModel)
{
- clonedCollisionModel = collisionModel->clone(colChecker, scaling);
+ clonedCollisionModel = collisionModel->clone(colChecker, scaling, deepMeshClone);
}
RobotNodePtr result = _clone(newRobot, clonedVisualizationNode, clonedCollisionModel, colChecker, scaling);
@@ -569,7 +574,7 @@ namespace VirtualRobot
if (n)
{
- RobotNodePtr c = n->clone(newRobot, true, RobotNodePtr(), colChecker, scaling);
+ RobotNodePtr c = n->clone(newRobot, true, RobotNodePtr(), colChecker, scaling, preventCloningMeshesIfScalingIs1);
if (c)
{
diff --git a/VirtualRobot/Nodes/RobotNode.h b/VirtualRobot/Nodes/RobotNode.h
index 0140cf6b14662479376abb258ef39544a1d1c37f..4437628d38b51fc915c0bedf85de7e485b16bb67 100644
--- a/VirtualRobot/Nodes/RobotNode.h
+++ b/VirtualRobot/Nodes/RobotNode.h
@@ -144,7 +144,7 @@ namespace VirtualRobot
/*
This call locks the robot's mutex.
*/
- virtual Eigen::Matrix4f getGlobalPose() const override;
+ Eigen::Matrix4f getGlobalPose() const override;
/*!
The pose of this node in the root coordinate system of the robot.
@@ -235,7 +235,12 @@ namespace VirtualRobot
\param colChecker Must only be set if the cloned RobotNode should be registered to a different collision checker instance.
\param scaling Scale Can be set to create a scaled version of this robot. Scaling is applied on kinematic, visual, and collision data.
*/
- virtual RobotNodePtr clone(RobotPtr newRobot, bool cloneChildren = true, RobotNodePtr initializeWithParent = RobotNodePtr(), CollisionCheckerPtr colChecker = CollisionCheckerPtr(), float scaling = 1.0f);
+ virtual RobotNodePtr clone(RobotPtr newRobot,
+ bool cloneChildren = true,
+ RobotNodePtr initializeWithParent = RobotNodePtr(),
+ CollisionCheckerPtr colChecker = CollisionCheckerPtr(),
+ float scaling = 1.0f,
+ bool preventCloningMeshesIfScalingIs1 = false);
inline float getJointValueOffset() const
{
diff --git a/VirtualRobot/Robot.cpp b/VirtualRobot/Robot.cpp
index 00954690f807329312459725280c800e7e7a14b7..4ded518edf76764c8e43ea2d0146b1b89e6f71cb 100644
--- a/VirtualRobot/Robot.cpp
+++ b/VirtualRobot/Robot.cpp
@@ -754,7 +754,14 @@ namespace VirtualRobot
return result;
}
- VirtualRobot::RobotPtr Robot::extractSubPart(RobotNodePtr startJoint, const std::string& newRobotType, const std::string& newRobotName, bool cloneRNS, bool cloneEEFs, CollisionCheckerPtr collisionChecker, float scaling)
+ VirtualRobot::RobotPtr Robot::extractSubPart(RobotNodePtr startJoint,
+ const std::string& newRobotType,
+ const std::string& newRobotName,
+ bool cloneRNS,
+ bool cloneEEFs,
+ CollisionCheckerPtr collisionChecker,
+ float scaling,
+ bool preventCloningMeshesIfScalingIs1)
{
THROW_VR_EXCEPTION_IF(!startJoint, " StartJoint is nullptr");
THROW_VR_EXCEPTION_IF(!hasRobotNode(startJoint), " StartJoint '" + startJoint->getName() + "' is not part of this robot '" + getName() + "'");
@@ -770,7 +777,7 @@ namespace VirtualRobot
//stefan Warning!!!!! which robot-type to create
RobotPtr result(new LocalRobot(newRobotName, newRobotType));
- RobotNodePtr rootNew = startJoint->clone(result, true, RobotNodePtr(), colChecker, scaling);
+ RobotNodePtr rootNew = startJoint->clone(result, true, RobotNodePtr(), colChecker, scaling, preventCloningMeshesIfScalingIs1);
THROW_VR_EXCEPTION_IF(!rootNew, "Clone failed...");
result->setRootNode(rootNew);
result->setScaling(scaling);
@@ -884,9 +891,17 @@ namespace VirtualRobot
}
- VirtualRobot::RobotPtr Robot::clone(const std::string& name, CollisionCheckerPtr collisionChecker, float scaling)
+ VirtualRobot::RobotPtr Robot::clone(const std::string& name,
+ CollisionCheckerPtr collisionChecker,
+ float scaling,
+ bool preventCloningMeshesIfScalingIs1)
{
- VirtualRobot::RobotPtr result = extractSubPart(this->getRootNode(), this->getType(), name, true, true, collisionChecker, scaling);
+ VirtualRobot::RobotPtr result = extractSubPart(this->getRootNode(),
+ this->getType(),
+ name, true, true,
+ collisionChecker,
+ scaling,
+ preventCloningMeshesIfScalingIs1);
result->setGlobalPose(getGlobalPose());
result->filename = filename;
result->type = type;
@@ -894,9 +909,11 @@ namespace VirtualRobot
return result;
}
- RobotPtr Robot::clone()
+ RobotPtr Robot::clone(CollisionCheckerPtr collisionChecker,
+ float scaling,
+ bool preventCloningMeshesIfScalingIs1)
{
- return clone(getName());
+ return clone(getName(), collisionChecker, scaling, preventCloningMeshesIfScalingIs1);
}
void Robot::createVisualizationFromCollisionModels()
diff --git a/VirtualRobot/Robot.h b/VirtualRobot/Robot.h
index 7410f4cb917edd6d8daa50630ad3d69f6150c71f..e832ffb80f83684dec213bfa419ad136257bf117 100644
--- a/VirtualRobot/Robot.h
+++ b/VirtualRobot/Robot.h
@@ -233,7 +233,14 @@ namespace VirtualRobot
\param collisionChecker The new robot can be registered to a different collision checker. If not set, the collision checker of the original robot is used.
\param scaling Can be set to create a scaled version of this robot. Scaling is applied on kinematic, visual, and collision data.
*/
- virtual RobotPtr extractSubPart(RobotNodePtr startJoint, const std::string& newRobotType, const std::string& newRobotName, bool cloneRNS = true, bool cloneEEFs = true, CollisionCheckerPtr collisionChecker = CollisionCheckerPtr(), float scaling = 1.0f);
+ virtual RobotPtr extractSubPart(RobotNodePtr startJoint,
+ const std::string& newRobotType,
+ const std::string& newRobotName,
+ bool cloneRNS = true,
+ bool cloneEEFs = true,
+ CollisionCheckerPtr collisionChecker = CollisionCheckerPtr(),
+ float scaling = 1.0f,
+ bool preventCloningMeshesIfScalingIs1 = false);
/*!
Clones this robot.
@@ -242,8 +249,13 @@ namespace VirtualRobot
\param scaling Scale Can be set to create a scaled version of this robot. Scaling is applied on kinematic, visual, and collision data.
*/
- virtual RobotPtr clone(const std::string& name, CollisionCheckerPtr collisionChecker = CollisionCheckerPtr(), float scaling = 1.0f);
- virtual RobotPtr clone();
+ virtual RobotPtr clone(const std::string& name,
+ CollisionCheckerPtr collisionChecker = CollisionCheckerPtr(),
+ float scaling = 1.0f,
+ bool preventCloningMeshesIfScalingIs1 = false);
+ virtual RobotPtr clone(CollisionCheckerPtr collisionChecker = CollisionCheckerPtr(),
+ float scaling = 1.0f,
+ bool preventCloningMeshesIfScalingIs1 = false);
//! Just storing the filename.
virtual void setFilename(const std::string& filename);
@@ -443,7 +455,7 @@ namespace VirtualRobot
std::shared_ptr<T> Robot::getVisualization(SceneObject::VisualizationType visuType, bool sensors)
{
static_assert(::std::is_base_of_v<Visualization, T>,
- "TEMPLATE_PARAMETER_FOR_VirtualRobot_getVisualization_MUST_BT_A_SUBCLASS_OF_VirtualRobot__Visualization");
+ "TEMPLATE_PARAMETER_FOR_VirtualRobot_getVisualization_MUST_BT_A_SUBCLASS_OF_VirtualRobot__Visualization");
std::vector<RobotNodePtr> collectedRobotNodes;
getRobotNodes(collectedRobotNodes);
std::vector<VisualizationNodePtr> collectedVisualizationNodes;