From 091b9d8340f85c860c39b457e129c98f2e06e720 Mon Sep 17 00:00:00 2001
From: Yosuke Matsusaka <yosuke.matsusaka@gmail.com>
Date: Fri, 4 Sep 2015 16:43:11 +0900
Subject: [PATCH] convert material for primitive shapes (ref #36)

---
 simtrans/sdf.py            | 29 +++++++++++++++++++++++++++++
 simtrans/template/vrml.wrl | 30 +++++++++++++++++++++++-------
 2 files changed, 52 insertions(+), 7 deletions(-)

diff --git a/simtrans/sdf.py b/simtrans/sdf.py
index 6f72ce0..be59fd9 100644
--- a/simtrans/sdf.py
+++ b/simtrans/sdf.py
@@ -311,6 +311,35 @@ def readShape(self, d):
                 m.data.radius = float(g.find('radius').text)
             else:
                 raise Exception('unsupported shape type: %s' % g.tag)
+        materiald =  d.find('material')
+        if materiald is not None:
+            material = model.MaterialModel()
+            diffuseset = False
+            ambient = materiald.find('ambient')
+            if ambient is not None:
+                material.ambient = numpy.array([float(v) for v in re.split(' +', ambient.text.strip(' '))])
+            diffuse = materiald.find('diffuse')
+            if diffuse is not None:
+                material.diffuse = numpy.array([float(v) for v in re.split(' +', diffuse.text.strip(' '))])
+                diffuseset = True
+            specular = materiald.find('specular')
+            if specular is not None:
+                material.specular = numpy.array([float(v) for v in re.split(' +', specular.text.strip(' '))])
+            emission = materiald.find('emission')
+            if emission is not None:
+                material.emission = numpy.array([float(v) for v in re.split(' +', emission.text.strip(' '))])
+            if diffuseset == False:
+                if emission is not None:
+                    material.diffuse = material.emission
+                    logging.warn("diffuse color not set. use emission color instead")
+                elif specular is not None:
+                    material.diffuse = material.specular
+                    logging.warn("diffuse color not set. use specular color instead")
+                elif ambient is not None:
+                    material.diffuse = material.ambient
+                    logging.warn("diffuse color not set. use ambient color instead")
+            if type(m.data) not in [model.MeshData]:
+                m.data.material = material
         return m
 
 
diff --git a/simtrans/template/vrml.wrl b/simtrans/template/vrml.wrl
index 781d316..76f4700 100644
--- a/simtrans/template/vrml.wrl
+++ b/simtrans/template/vrml.wrl
@@ -145,24 +145,40 @@ Transform {
     Inline {
       url "{{shapefilemap[v.name]}}"
     }
-    {%- elif v.shapeType == ShapeModel.SP_SPHERE %}
+    {%- else %}
     Shape {
+      {%- if v.data.material is not none %}
+      appearance Appearance {
+        material Material {
+          diffuseColor {{v.data.material.diffuse[0]}} {{v.data.material.diffuse[1]}} {{v.data.material.diffuse[2]}}
+          {%- if v.data.material.specular is not none %}
+          specularColor {{v.data.material.specular[0]}} {{v.data.material.specular[1]}} {{v.data.material.specular[2]}}
+          {%- endif %}
+          {%- if v.data.material.emission is not none %}
+          emissiveColor {{v.data.material.emission[0]}} {{v.data.material.emission[1]}} {{v.data.material.emission[2]}}
+          {%- endif %}
+        }
+        {%- if v.data.material.texture is not none %}
+        texture ImageTexture {
+          url "{{v.data.material.texture}}"
+        }
+        {%- endif %}
+      }
+      {%- endif %}
+      {%- if v.shapeType == ShapeModel.SP_SPHERE %}
       geometry Sphere {
         radius {{v.data.radius}}
       }
-    }
-    {%- elif v.shapeType == ShapeModel.SP_BOX %}
-    Shape {
+      {%- elif v.shapeType == ShapeModel.SP_BOX %}
       geometry Box {
         size {{v.data.x}} {{v.data.y}} {{v.data.z}}
       }
-    }
-    {%- elif v.shapeType == ShapeModel.SP_CYLINDER %}
-    Shape {
+      {%- elif v.shapeType == ShapeModel.SP_CYLINDER %}
       geometry Cylinder {
         radius {{v.data.radius}}
         height {{v.data.height}}
       }
+      {%- endif %}
     }
     {%- endif %}
   ]