wip

markaren · Jun 24, 2024 · 26a2dd8 · 26a2dd8
1 parent 2b619f8
commit 26a2dd8
Show file tree

Hide file tree

Showing 2 changed files with 16 additions and 19 deletions.
diff --git a/examples/loaders/urdf_loader.cpp b/examples/loaders/urdf_loader.cpp
@@ -6,7 +6,11 @@
 
 using namespace threepp;
 
-int main() {
+int main(int argc, char** argv) {
+
+    if (argc != 2) return 1;
+
+    std::string urdfPath = argv[1];
 
     Canvas canvas{"URDF loader", {{"aa", 4}}};
     GLRenderer renderer(canvas.size());
@@ -26,7 +30,7 @@ int main() {
 
     URDFLoader loader;
     AssimpLoader assimpLoader;
-    auto model = loader.load(assimpLoader, "C:\\Users\\Lars Ivar Hatledal\\OneDrive - NTNU\\Teaching\\AIS1003\\2023\\Mappe\\Sensur\\10031\\testfiler\\abb-kinetic-devel\\abb_irb2400_support\\urdf\\irb2400.urdf");
+    auto model = loader.load(assimpLoader, urdfPath);
     scene->add(model);
 
     Box3 bb;
@@ -47,7 +51,12 @@ int main() {
     canvas.animate([&]() {
         const auto dt = clock.getDelta();
 
-        model->getObjectByName("joint_1")->rotation.y += dt * 1;
+        model->getObjectByName("joint_1")->rotation.y += dt * 0.1;
+        model->getObjectByName("joint_2")->rotation.z += dt * 0.1;
+        model->getObjectByName("joint_3")->rotation.z += dt * 0.1;
+        model->getObjectByName("joint_4")->rotation.x += dt * 0.1;
+        // model->getObjectByName("joint_5")->rotation.y += dt * 0.1;
+        // model->getObjectByName("joint_6")->rotation.y += dt * 0.1;
 
         model->updateMatrixWorld();
 

diff --git a/src/threepp/loaders/URDFLoader.cpp b/src/threepp/loaders/URDFLoader.cpp
@@ -55,9 +55,9 @@ struct URDFLoader::Impl {
             auto linkObject = std::make_shared<Object3D>();
             linkObject->name = link.attribute("name").value();
 
-            if (linkObject->name == "base_link") {
-                object->add(linkObject);
-            }
+            // if (linkObject->name == "base_link") {
+            //     object->add(linkObject);
+            // }
 
             for (auto visual : link.children("visual")) {
 
@@ -143,21 +143,9 @@ struct URDFLoader::Impl {
 
         for (const auto& l : links) {
 
-            // if (!l->parent) object->add(l);
+            if (!l->parent) object->add(l);
         }
 
-        // auto o = object->getObjectByName("joint_1");
-        // o->rotation.z = -std::numbers::phi / 2;
-
-        // object->traverse([&](auto& o) {
-        //     if (o.name.find("joint_") != std::string::npos) {
-        //         std::cout << o.name << std::endl;
-        //         // std::cout << o.parent->name << std::endl;
-        //         std::cout << std::endl;
-        //         o.rotation.y = std::numbers::phi/6;
-        //     }
-        // });
-
         return object;
     }
 };