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Signed-off-by: Dharini Dutia <[email protected]>
gazebosim · Jan 6, 2024 · eacd18f · eacd18f
1 parent 26c61ca
commit eacd18f
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Showing 2 changed files with 19 additions and 21 deletions.
diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
@@ -817,17 +817,20 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
         std::optional<MaterialParser::MaterialValues> parsed =
           this->dataPtr->materialParser.GetMaterialValues(scriptName);
 
-        if(!parsed.has_value()) {
+        if(parsed.has_value())
+        {
+          visualMaterial.SetAmbient
+            (parsed->ambient.value_or(visualMaterial.Ambient()));
+          visualMaterial.SetDiffuse
+            (parsed->diffuse.value_or(visualMaterial.Diffuse()));
+          visualMaterial.SetSpecular
+            (parsed->specular.value_or(visualMaterial.Specular()));
+        }
+        else
+        {
           gzwarn << "Material " << scriptName <<
-            " not recognized, using default." << std::endl;
+            " not recognized or supported, using default." << std::endl;
         }
-
-        visualMaterial.SetAmbient
-          (parsed->ambient.value_or(visualMaterial.Ambient()));
-        visualMaterial.SetDiffuse
-          (parsed->diffuse.value_or(visualMaterial.Diffuse()));
-        visualMaterial.SetSpecular
-          (parsed->specular.value_or(visualMaterial.Specular()));
       }
     }
     this->dataPtr->ecm->CreateComponent(visualEntity,

diff --git a/src/rendering/MaterialParser/MaterialParser.cc b/src/rendering/MaterialParser/MaterialParser.cc
@@ -42,7 +42,7 @@ void MaterialParser::Load()
 std::optional<MaterialParser::MaterialValues> MaterialParser::GetMaterialValues(
   const std::string& material)
 {
-  MaterialValues values;
+  std::optional<MaterialValues> values;
   std::map<std::string, ConfigNode *> scripts =
     this->configLoader.getAllConfigScripts();
 
@@ -57,25 +57,20 @@ std::optional<MaterialParser::MaterialValues> MaterialParser::GetMaterialValues(
       if (techniqueNode) {
         ConfigNode * passNode = techniqueNode->findChild("pass");
         if (passNode) {
-          std::size_t index = name.rfind(" ");
-          if (index != std::string::npos) {
-            name = name.substr(index + 1);
-          }
-
           ConfigNode * ambientNode = passNode->findChild("ambient");
           if (ambientNode) {
             std::vector<float> ambientValues;
             ambientNode->getValuesInFloat(ambientValues);
-            values.ambient = gz::math::Color(ambientValues[0],
-              ambientValues[1], ambientValues[2]);
+            values->ambient.emplace(gz::math::Color(ambientValues[0],
+              ambientValues[1], ambientValues[2]));
           }
 
           ConfigNode * diffuseNode = passNode->findChild("diffuse");
           if (diffuseNode) {
             std::vector<float> diffuseValues;
             diffuseNode->getValuesInFloat(diffuseValues);
-            values.diffuse = gz::math::Color(diffuseValues[0],
-              diffuseValues[1], diffuseValues[2]);
+            values->diffuse.emplace(gz::math::Color(diffuseValues[0],
+              diffuseValues[1], diffuseValues[2]));
           }
 
           ConfigNode * specularNode = passNode->findChild("specular");
@@ -84,8 +79,8 @@ std::optional<MaterialParser::MaterialValues> MaterialParser::GetMaterialValues(
             specularNode->getValuesInFloat(specularValues);
             // Using first four values for specular as
             // Gazebo doesn't support shininess
-            values.specular = gz::math::Color(specularValues[0],
-              specularValues[1], specularValues[2], specularValues[3]);
+            values->specular.emplace(gz::math::Color(specularValues[0],
+              specularValues[1], specularValues[2], specularValues[3]));
           }
         }
       }