Add defaultMaterialLoader function to URDFLoader.js

gkjohnson · Nov 5, 2024 · 12a0a06 · 12a0a06
1 parent 4cad1dc
commit 12a0a06
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Showing 2 changed files with 22 additions and 11 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, MaterialParameters } from 'three';
 import { URDFRobot } from './URDFClasses';
 
 interface MeshLoadDoneFunc {
@@ -9,10 +9,15 @@ interface MeshLoadFunc{
     (url: string, manager: LoadingManager, onLoad: MeshLoadDoneFunc): void;
 }
 
+interface MaterialLoadFunc {
+    <T extends MaterialParameters>(parameters?: T): 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 = '';
@@ -459,9 +460,9 @@ class URDFLoader {
         function processMaterial(node) {
 
             const matNodes = [ ...node.children ];
-            const material = new THREE.MeshPhongMaterial();
+            const parameters = {};
 
-            material.name = node.getAttribute('name') || '';
+            parameters.name = node.getAttribute('name') || '';
             matNodes.forEach(n => {
 
                 const type = n.nodeName.toLowerCase();
@@ -473,10 +474,10 @@ class URDFLoader {
                             .split(/\s/g)
                             .map(v => parseFloat(v));
 
-                    material.color.setRGB(rgba[0], rgba[1], rgba[2]);
-                    material.opacity = rgba[3];
-                    material.transparent = rgba[3] < 1;
-                    material.depthWrite = !material.transparent;
+                    parameters.color = new THREE.Color(rgba[0], rgba[1], rgba[2]);
+                    parameters.opacity = rgba[3];
+                    parameters.transparent = rgba[3] < 1;
+                    parameters.depthWrite = !parameters.transparent;
 
                 } else if (type === 'texture') {
 
@@ -487,15 +488,15 @@ class URDFLoader {
 
                         const loader = new THREE.TextureLoader(manager);
                         const filePath = resolvePath(filename);
-                        material.map = loader.load(filePath);
-                        material.map.colorSpace = THREE.SRGBColorSpace;
+                        parameters.map = loader.load(filePath);
+                        parameters.map.colorSpace = THREE.SRGBColorSpace;
 
                     }
 
                 }
             });
 
-            return material;
+            return this.loadMaterialCb(parameters);
 
         }
 
@@ -523,7 +524,7 @@ class URDFLoader {
 
             } else {
 
-                material = new THREE.MeshPhongMaterial();
+                material = this.loadMaterialCb();
 
             }
 
@@ -661,4 +662,8 @@ class URDFLoader {
 
     }
 
+    defaultMaterialLoader(parameters) {
+        return new THREE.MeshPhongMaterial(parameters);
+    }
+
 };