From 8e408c91a2b72e27418b97fdb5dc8b7729176a75 Mon Sep 17 00:00:00 2001
From: Andre Meixner <andre.meixner@kit.edu>
Date: Wed, 8 Mar 2023 10:00:09 +0100
Subject: [PATCH] Added option to only reload collision model when reloading
visualization from xml
---
VirtualRobot/SceneObject.cpp | 22 +++++++++++++---------
VirtualRobot/SceneObject.h | 2 +-
2 files changed, 14 insertions(+), 10 deletions(-)
diff --git a/VirtualRobot/SceneObject.cpp b/VirtualRobot/SceneObject.cpp
index 96925f44c..1466ed3e9 100644
--- a/VirtualRobot/SceneObject.cpp
+++ b/VirtualRobot/SceneObject.cpp
@@ -1464,7 +1464,7 @@ namespace VirtualRobot
return scaling;
}
- bool SceneObject::reloadVisualizationFromXML(bool useVisAsColModelIfMissing) {
+ bool SceneObject::reloadVisualizationFromXML(bool useVisAsColModelIfMissing, bool loadColOnly) {
bool reloaded = false;
if (!collisionModelXML.empty())
{
@@ -1484,7 +1484,8 @@ namespace VirtualRobot
}
reloaded = true;
}
- if (!visualizationModelXML.empty())
+ if ((!loadColOnly || (!collisionModel && useVisAsColModelIfMissing))
+ && !visualizationModelXML.empty())
{
rapidxml::xml_document<> doc;
std::vector<char> cstr(visualizationModelXML.size() + 1); // Create char buffer to store string copy
@@ -1492,13 +1493,16 @@ namespace VirtualRobot
doc.parse<0>(cstr.data());
bool useAsColModel;
auto visualizationModel = BaseIO::processVisualizationTag(doc.first_node(), name, basePath, useAsColModel);
- if (visualizationModel && scaling != 1.0f)
+ if (!loadColOnly)
{
- setVisualization(visualizationModel->clone(true, scaling));
- }
- else
- {
- setVisualization(visualizationModel);
+ if (visualizationModel && scaling != 1.0f)
+ {
+ setVisualization(visualizationModel->clone(true, scaling));
+ }
+ else
+ {
+ setVisualization(visualizationModel);
+ }
}
if (visualizationModel && collisionModel == nullptr && (useVisAsColModelIfMissing || useAsColModel))
{
@@ -1507,7 +1511,7 @@ namespace VirtualRobot
reloaded = true;
}
for (auto child : this->getChildren()) {
- reloaded |= child->reloadVisualizationFromXML(useVisAsColModelIfMissing);
+ reloaded |= child->reloadVisualizationFromXML(useVisAsColModelIfMissing, loadColOnly);
}
return reloaded;
}
diff --git a/VirtualRobot/SceneObject.h b/VirtualRobot/SceneObject.h
index 3fb7348e3..5572e1cae 100644
--- a/VirtualRobot/SceneObject.h
+++ b/VirtualRobot/SceneObject.h
@@ -420,7 +420,7 @@ namespace VirtualRobot
void setScaling(float scaling);
float getScaling();
- bool reloadVisualizationFromXML(bool useVisAsColModelIfMissing = true);
+ bool reloadVisualizationFromXML(bool useVisAsColModelIfMissing = true, bool loadColOnly = false);
const std::string& getVisualizationModelXML() const;
--
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