[euscollada/src/euscollada-robot*.l] Always make pqpmodel for detaile…

…d shape according to euslisp/jskeus#232
jsk-ros-pkg · Jul 17, 2015 · 27d97aa · 27d97aa
1 parent 06e8d8d
commit 27d97aa
Show file tree

Hide file tree

Showing 2 changed files with 24 additions and 30 deletions.
diff --git a/euscollada/src/euscollada-robot.l b/euscollada/src/euscollada-robot.l
@@ -63,21 +63,18 @@
   (:make-collision-model-for-links
    (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
    (dolist (ll ls)
-     (unless (send ll :get (read-from-string (format nil ":~Amodel"
-                                                     (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
-       (send ll
-             (read-from-string
-              (format nil ":make-~Amodel"
-                      (string-right-trim "-COLLISION-CHECK" (string collision-func))))
-             :fat fat
-             :faces (flatten (mapcar #'(lambda (x)
-                                         (cond
-                                          ((find-method x :def-gl-vertices)
-                                           (send (x . glvertices) :convert-to-faces :wrt :world))
-                                          (t
-                                           (send x :faces))))
-                                     (send ll :bodies)))))
-     )
+     (send ll
+           (read-from-string
+            (format nil ":make-~Amodel"
+                    (string-right-trim "-COLLISION-CHECK" (string collision-func))))
+           :fat fat
+           :faces (flatten (mapcar #'(lambda (x)
+                                       (cond
+                                        ((find-method x :def-gl-vertices)
+                                         (send (x . glvertices) :convert-to-faces :wrt :world))
+                                        (t
+                                         (send x :faces))))
+                                   (send ll :bodies)))))
    )
   )
 

diff --git a/euscollada/src/euscollada-robot_urdfmodel.l b/euscollada/src/euscollada-robot_urdfmodel.l
@@ -52,21 +52,18 @@
   (:make-collision-model-for-links
    (&key (fat 0) (collision-func 'pqp-collision-check) ((:links ls) (send self :links)))
    (dolist (ll ls)
-     (unless (send ll :get (read-from-string (format nil ":~Amodel"
-                                                     (string-right-trim "-COLLISION-CHECK" (string collision-func)))))
-       (send ll
-             (read-from-string
-              (format nil ":make-~Amodel"
-                      (string-right-trim "-COLLISION-CHECK" (string collision-func))))
-             :fat fat
-             :faces (flatten (mapcar #'(lambda (x)
-                                         (cond
-                                          ((find-method x :def-gl-vertices)
-                                           (send (x . glvertices) :convert-to-faces :wrt :world))
-                                          (t
-                                           (send x :faces))))
-                                     (send ll :bodies)))))
-     )
+     (send ll
+           (read-from-string
+            (format nil ":make-~Amodel"
+                    (string-right-trim "-COLLISION-CHECK" (string collision-func))))
+           :fat fat
+           :faces (flatten (mapcar #'(lambda (x)
+                                       (cond
+                                        ((find-method x :def-gl-vertices)
+                                         (send (x . glvertices) :convert-to-faces :wrt :world))
+                                        (t
+                                         (send x :faces))))
+                                   (send ll :bodies)))))
    )
   )