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Populate default material for model #3139

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Populate default material for model #3139

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10 changes: 5 additions & 5 deletions src/SdfEntityCreator.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -940,10 +940,10 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
components::Geometry(*_visual->Geom()));
}

// \todo(louise) Populate with default material if undefined
sdf::Material visualMaterial;
if (_visual->Material())
{
sdf::Material visualMaterial = *_visual->Material();
visualMaterial = *_visual->Material();
if (!_visual->Material()->ScriptUri().empty())
{
gzwarn << "Gazebo does not support Ogre material scripts. See " <<
Expand All @@ -967,7 +967,7 @@ 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()));
Expand All @@ -983,9 +983,9 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
}
}
}
this->dataPtr->ecm->CreateComponent(visualEntity,
components::Material(visualMaterial));
}
this->dataPtr->ecm->CreateComponent(visualEntity,
components::Material(visualMaterial));

// store the plugin in a component
if (!_visual->Plugins().empty())
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9 changes: 5 additions & 4 deletions test/integration/mesh_uri.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -84,7 +84,7 @@ class MeshUriTest : public InternalFixture<::testing::Test>
/////////////////////////////////////////////////
// Test spawning mesh by name and verify that the mesh is correctly
// spawned in both rendering and physics. Cameras should see the spawned
// mesh and spawend object should collide with one another on the physics
// mesh and spawned object should collide with one another on the physics
// side.
TEST_F(MeshUriTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SpawnMeshByName))
{
Expand Down Expand Up @@ -195,9 +195,10 @@ TEST_F(MeshUriTest, GZ_UTILS_TEST_DISABLED_ON_WIN32(SpawnMeshByName))
r = imageBuffer[midIdx];
g = imageBuffer[midIdx + 1];
b = imageBuffer[midIdx + 2];
EXPECT_EQ(255u, r);
EXPECT_EQ(255u, g);
EXPECT_EQ(255u, b);
// Default material is black
EXPECT_EQ(0u, r);
EXPECT_EQ(0u, g);
EXPECT_EQ(0u, b);

// Spawn another box over the static one
const std::string spawnedModel2Name = "spawned_model2";
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