Shade triangle-list markers like other objects. #833
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Looks good to me, I compared it with the mesh shading code and it looks consistent. |
wjwwood
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Dec 16, 2014
Shade triangle-list markers like other objects.
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Aug 21, 2024
…ualization#833) None of the rviz_default_plugins ABI relies on consumers linking against ignition-math6 directly. The alternative is to add the ignition-math6 link directory to the rviz_default_plugins link interface so that consumers can reliably find the library. Signed-off-by: Scott K Logan <logans@cottsay.net>
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My current project is using triangle-list markers (in interactive markers) to show meshes that are loaded via MoveIt. However the current version of rviz does not do any shading of triangle-list markers. (It was not computing the surface normals of the faces.) Therefore triangle-list marker coloring is completely flat, so all you can see is the outline. This pull request fixes this so that triangle-list markers are shaded the same as meshes and primitive shapes. I compute the surface normal using the cross-product of the edges. If the cross-product is (0,0,0), Ogre::Vector3::normalise() does nothing ( http://www.ogre3d.org/docs/api/1.9/_ogre_vector3_8h_source.html#l00446 ), so I don't need to check for it myself.
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