From 27d97aa9b774313c7aa01b1151c82bb792e5129d Mon Sep 17 00:00:00 2001 From: Shunichi Nozawa Date: Fri, 17 Jul 2015 01:22:47 +0900 Subject: [PATCH] [euscollada/src/euscollada-robot*.l] Always make pqpmodel for detailed shape according to https://github.com/euslisp/jskeus/pull/232 --- euscollada/src/euscollada-robot.l | 27 +++++++++------------ euscollada/src/euscollada-robot_urdfmodel.l | 27 +++++++++------------ 2 files changed, 24 insertions(+), 30 deletions(-) diff --git a/euscollada/src/euscollada-robot.l b/euscollada/src/euscollada-robot.l index 2f92471df..9312d522e 100644 --- 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 index 1852ded35..fb95a6694 100644 --- 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))))) ) )