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add #-:gl for euslisp without :gl features, may be we should put glbody/glvertices in irtgeo? #246

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add #-:gl for euslisp without :gl features, may be we should put glbody/glvertices in irtgeo? #246

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847722d
add #-:gl for euslisp without :gl features, may be we should put glbo…
k-okada May 25, 2022
e97fdd8
can not put comment after #+:gl / #-:gl
k-okada Jul 17, 2024
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18 changes: 18 additions & 0 deletions euscollada/src/collada2eus_urdfmodel.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -1730,6 +1730,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
<< std::endl;
#endif
double radius = ((Sphere *)g.get())->radius;
fprintf(fp, "#+:gl\n");
fprintf(fp, " (let ((bdy (make-sphere %f)))\n", 1000*radius);
fprintf(fp, " (setq qhull bdy)\n");
fprintf(fp, " (setq glv (gl::make-glvertices-from-faceset bdy\n");
Expand All @@ -1738,13 +1739,18 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send bdy :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals))\n");
fprintf(fp, "#-:gl\n");
fprintf(fp, " (let ((bdy (make-sphere %f)))\n", 1000*radius);
fprintf(fp, " (setq qhull bdy)\n");
fprintf(fp, " (send bdy :transform local-cds))\n");
} else if (g->type == Geometry::BOX) {
Vector3 vec = ((Box *)g.get())->dim;
#if 0
std::cerr << "BOX: " << name
<< ", dim = " << vec.x << " " << vec.y << " " << vec.z
<< std::endl;
#endif
fprintf(fp, "#+:gl\n");
fprintf(fp, " (let ((bdy (make-cube %f %f %f)))\n", 1000*vec.x, 1000*vec.y, 1000*vec.z);
fprintf(fp, " (setq qhull bdy)\n");
fprintf(fp, " (setq glv (gl::make-glvertices-from-faceset bdy\n");
Expand All @@ -1753,6 +1759,10 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send bdy :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals))\n");
fprintf(fp, "#-:gl\n");
fprintf(fp, " (let ((bdy (make-cube %f %f %f)))\n", 1000*vec.x, 1000*vec.y, 1000*vec.z);
fprintf(fp, " (setq qhull bdy)\n");
fprintf(fp, " (send bdy :transform local-cds))\n");
} else if (g->type == Geometry::CYLINDER) {
#if 0
std::cerr << "CYLINDER: " << name
Expand All @@ -1762,6 +1772,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
#endif
double length = ((Cylinder *)g.get())->length;
double radius = ((Cylinder *)g.get())->radius;
fprintf(fp, "#+:gl\n");
fprintf(fp, " (let ((bdy (make-cylinder %f %f :segments 24)))\n", 1000*radius, 1000*length);
fprintf(fp, " (send bdy :translate-vertices (float-vector 0 0 %f))\n", -500*length);
fprintf(fp, " (setq qhull bdy)\n");
Expand All @@ -1771,6 +1782,10 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send bdy :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals))\n");
fprintf(fp, "#-:gl\n");
fprintf(fp, " (let ((bdy (make-cylinder %f %f :segments 24)))\n", 1000*radius, 1000*length);
fprintf(fp, " (send bdy :translate-vertices (float-vector 0 0 %f))\n", -500*length);
fprintf(fp, " (setq qhull bdy))\n");
} else {
std::cerr << "unknown geometry type: " << name << std::endl;
}
Expand Down Expand Up @@ -1853,6 +1868,8 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
Vector3 scale = ((Mesh *)(g.get()))->scale;
vector<coordT> points;
if (scene && scene->HasMeshes() && !use_loadable_mesh) {
fprintf(fp, "#+:gl\n");
fprintf(fp, " (progn\n");
fprintf(fp, " (setq glv\n");
fprintf(fp, " (instance gl::glvertices :init\n");
fprintf(fp, " (list ;; mesh list\n");
Expand All @@ -1862,6 +1879,7 @@ void ModelEuslisp::printGeometry (boost::shared_ptr<Geometry> g, const Pose &pos
fprintf(fp, " ))\n");
fprintf(fp, " (send glv :transform local-cds)\n");
fprintf(fp, " (send glv :calc-normals)\n");
fprintf(fp, " )");
} else if (scene && scene->HasMeshes()) {
fprintf(fp, " (setq glv (load-mesh-file (ros::resolve-ros-path \"%s\")\n", gname.c_str());
fprintf(fp, " :scale %f :process-max-quality t))\n", scale.x*1000);
Expand Down
15 changes: 15 additions & 0 deletions euscollada/src/euscollada-robot.l
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Original file line number Diff line number Diff line change
Expand Up @@ -75,6 +75,7 @@
(push (send bd :faces) fs)))
(setq fs (flatten fs))
(cond
#+:gl
((and (not fs) glv) ;; if there is no faces, use glvertices for creating pqpmodel
(setq usefs (instance gl::glvertices :init nil))
(send usefs :transform (send ll :worldcoords))
Expand All @@ -101,10 +102,24 @@

;; copy euscollada-body class definition from euscollada/src/euscollada-robot.l
;; This euscollada-body class is for bodies in robot model converted from collada files.
#+:gl
(defclass collada-body
:super gl::glbody
:slots (glvertices) ;; glvertices slot for backward compatibility
)
;; For euslisp without :gl features, may be we should put glbody/glvertices in irtgeo?
#-:gl
(defclass collada-body
:super body
;; glvertices slot for backward compatibility
;; aglvertices slot is defined in glbody
:slots (gl::aglvertices glvertices)
)
;; glbody defineds :gvertices methods
#-:gl
(defmethod collada-body
(:glvertices (&rest args) (user::forward-message-to glvertices args))
)
(defmethod collada-body
(:init (&key (name) (replace-obj))
(if replace-obj
Expand Down