Add defaultMaterialLoader function to URDFLoader

gkjohnson · Nov 5, 2024 · 2d5e0d6 · 2d5e0d6
1 parent 4cad1dc
commit 2d5e0d6
Show file tree

Hide file tree

Showing 2 changed files with 14 additions and 3 deletions.
diff --git a/javascript/src/URDFLoader.d.ts b/javascript/src/URDFLoader.d.ts
@@ -1,4 +1,4 @@
-import { LoadingManager, Object3D } from 'three';
+import { LoadingManager, Object3D, Material } from 'three';
 import { URDFRobot } from './URDFClasses';
 
 interface MeshLoadDoneFunc {
@@ -9,10 +9,15 @@ interface MeshLoadFunc{
     (url: string, manager: LoadingManager, onLoad: MeshLoadDoneFunc): void;
 }
 
+interface MaterialLoadFunc {
+    (): Material;
+}
+
 export default class URDFLoader {
 
     manager: LoadingManager;
     defaultMeshLoader: MeshLoadFunc;
+    defaultMaterialLoader: MaterialLoadFunc;
 
     // options
     fetchOptions: Object;
@@ -21,6 +26,7 @@ export default class URDFLoader {
     parseCollision: boolean;
     packages: string | { [key: string]: string } | ((targetPkg: string) => string);
     loadMeshCb: MeshLoadFunc;
+    loadMaterialCb: MaterialLoadFunc;
 
     constructor(manager?: LoadingManager);
     loadAsync(urdf: string): Promise<URDFRobot>;

diff --git a/javascript/src/URDFLoader.js b/javascript/src/URDFLoader.js
@@ -60,6 +60,7 @@ class URDFLoader {
 
         this.manager = manager || THREE.DefaultLoadingManager;
         this.loadMeshCb = this.defaultMeshLoader.bind(this);
+        this.loadMaterialCb = this.defaultMaterialLoader.bind(this);
         this.parseVisual = true;
         this.parseCollision = false;
         this.packages = '';
@@ -459,7 +460,7 @@ class URDFLoader {
         function processMaterial(node) {
 
             const matNodes = [ ...node.children ];
-            const material = new THREE.MeshPhongMaterial();
+            const material = this.loadMaterialCb();
 
             material.name = node.getAttribute('name') || '';
             matNodes.forEach(n => {
@@ -523,7 +524,7 @@ class URDFLoader {
 
             } else {
 
-                material = new THREE.MeshPhongMaterial();
+                material = this.loadMaterialCb();
 
             }
 
@@ -661,4 +662,8 @@ class URDFLoader {
 
     }
 
+    defaultMaterialLoader() {
+        return new THREE.MeshPhongMaterial();
+    }
+
 };