diff options
Diffstat (limited to 'crates/rapier3d-urdf/src/lib.rs')
| -rw-r--r-- | crates/rapier3d-urdf/src/lib.rs | 13 |
1 files changed, 9 insertions, 4 deletions
diff --git a/crates/rapier3d-urdf/src/lib.rs b/crates/rapier3d-urdf/src/lib.rs index 1f93fc7..dc4614b 100644 --- a/crates/rapier3d-urdf/src/lib.rs +++ b/crates/rapier3d-urdf/src/lib.rs @@ -37,7 +37,6 @@ use rapier3d::{ geometry::{Collider, ColliderBuilder, ColliderHandle, ColliderSet, SharedShape, TriMeshFlags}, math::{Isometry, Point, Real, Vector}, na, - prelude::MeshConverter, }; use std::collections::HashMap; use std::path::Path; @@ -462,7 +461,7 @@ fn urdf_to_rigid_body(options: &UrdfLoaderOptions, inertial: &Inertial) -> Rigid fn urdf_to_colliders( options: &UrdfLoaderOptions, - mesh_dir: &Path, + _mesh_dir: &Path, // Unused if none of the meshloader features is enabled. geometry: &Geometry, origin: &Pose, ) -> Vec<Collider> { @@ -496,14 +495,20 @@ fn urdf_to_colliders( Geometry::Sphere { radius } => { colliders.push(SharedShape::ball(*radius as Real)); } + #[cfg(not(feature = "__meshloader_is_enabled"))] + Geometry::Mesh { .. } => { + log::error!("Mesh loading is disabled by default. Enable one of the format features (`stl`, `collada`, `wavefront`) of `rapier3d-urdf` for mesh support."); + } + #[cfg(feature = "__meshloader_is_enabled")] Geometry::Mesh { filename, scale } => { - let full_path = mesh_dir.join(filename); + let full_path = _mesh_dir.join(filename); let scale = scale .map(|s| Vector::new(s[0] as Real, s[1] as Real, s[2] as Real)) .unwrap_or_else(|| Vector::<Real>::repeat(1.0)); + let Ok(loaded_mesh) = rapier3d_meshloader::load_from_path( full_path, - &MeshConverter::TriMeshWithFlags(options.trimesh_flags), + &rapier3d::prelude::MeshConverter::TriMeshWithFlags(options.trimesh_flags), scale, ) else { return Vec::new(); |