working commit: fixing wavefront meshes implementation in drake_urdf_…

…renderer

git-svn-id: https://svn.csail.mit.edu/locomotion/robotlib/trunk@6470 c9849af7-e679-4ec6-a44e-fc146a885bd3

.gitignore

@@ -125,3 +125,4 @@ util/test/debugMexTest_mexdebug.mat
 *.class
 tmp_w.mat
 bin
+drake.jar

systems/plants/@RigidBodyManipulator/RigidBodyManipulator.m

@@ -640,12 +640,12 @@ function drawKinematicTree(model)
 
     function v = constructVisualizer(obj,options)
       checkDirty(obj);
-%      try 
-%        v = BotVisualizer(obj);
-%      catch ex
-%        warning(ex.identifier,ex.message);
-        v = RigidBodyWRLVisualizer(obj);
-%      end      
+      try 
+        v = BotVisualizer(obj);
+      catch ex
+        warning(ex.identifier,ex.message);
+       v = RigidBodyWRLVisualizer(obj);
+      end      
     end
 
     function index = getActuatedJoints(model)

systems/plants/urdf.cpp

@@ -185,7 +185,8 @@ URDFRigidBodyManipulator::URDFRigidBodyManipulator(boost::shared_ptr<urdf::Model
           std::string ext = mypath.extension().native();
           boost::to_lower(ext);
 
-          if (ext.compare(".dae")==0) {
+          if (ext.compare(".obj")==0) {
+            cout << "Loading mesh from " << fname << endl;
             BotWavefrontModel* wavefront_model = bot_wavefront_model_create(fname.c_str());
             if (!wavefront_model) {
               cerr << "Error loading mesh: " << fname << endl;
@@ -194,15 +195,16 @@ URDFRigidBodyManipulator::URDFRigidBodyManipulator(boost::shared_ptr<urdf::Model
             }
           } else {
           	// try changing the extension to dae and loading
-          	if ( boost::filesystem::exists( mypath.replace_extension(".dae") ) ) {
-          		BotWavefrontModel* wavefront_model = bot_wavefront_model_create(mypath.replace_extension(".dae").native().c_str());
+          	if ( boost::filesystem::exists( mypath.replace_extension(".obj") ) ) {
+              cout << "Loading mesh from " << mypath.replace_extension(".obj").native() << endl;
+          		BotWavefrontModel* wavefront_model = bot_wavefront_model_create(mypath.replace_extension(".obj").native().c_str());
               if (!wavefront_model) {
                 cerr << "Error loading mesh: " << fname << endl;
               } else {
               	mesh_map.insert(make_pair(mesh->filename, wavefront_model));
               }
           	} else {
-              cout << "Warning: Mesh " << mypath.native() << " ignored because it does not have extension .dae (nor can I find a juxtaposed file with a .dae extension)" << endl;
+              cout << "Warning: Mesh " << mypath.native() << " ignored because it does not have extension .obj (nor can I find a juxtaposed file with a .obj extension)" << endl;
             }
           }
         }

systems/plants/viewer/drake_urdf_renderer.cpp

@@ -165,9 +165,11 @@ static void my_draw( BotViewer *viewer, BotRenderer *renderer )
         	boost::shared_ptr<urdf::Mesh> mesh(boost::dynamic_pointer_cast<urdf::Mesh>(vptr->geometry));
         	glScalef(mesh->scale.x,mesh->scale.y,mesh->scale.z);
         	map<string,BotWavefrontModel*>::iterator iter = self->model->mesh_map.find(mesh->filename);
-        	bot_wavefront_model_gl_draw(iter->second);
-//        	glmDraw(iter->second->glm_model, GLM_SMOOTH);
-        	cout << "got here" << endl;
+        	if (iter!= self->model->mesh_map.end()) {
+        		bot_wavefront_model_gl_draw(iter->second);
+        		//        	glmDraw(iter->second->glm_model, GLM_SMOOTH);
+        		cout << "got here" << endl;
+        	}
         } 
         glPopMatrix();
       }