[GUI/Visual] Adapt visual_utils to scale removal

arntanguy · Feb 2, 2024 · 81bffd6 · 81bffd6
1 parent e5cabaa
commit 81bffd6
Showing 1 changed file with 8 additions and 2 deletions.
diff --git a/include/mc_rtc/visual_utils.h b/include/mc_rtc/visual_utils.h
@@ -103,14 +103,20 @@ inline rbd::parsers::Visual makeVisualBox(const Eigen::Vector3d & dim, const mc_
 inline constexpr auto getVisualBox = details::getVisualGeometry<rbd::parsers::Geometry::Type::BOX>;
 
 /** Returns a new Visual that holds a Mesh object */
-inline rbd::parsers::Visual makeVisualMesh(const std::string & path, double scale)
+inline rbd::parsers::Visual makeVisualMesh(const std::string & path, Eigen::Vector3d scaleV)
 {
   rbd::parsers::Geometry::Mesh m;
   m.filename = path;
-  m.scale = scale;
+  m.scaleV = scaleV;
   return details::makeVisual(m, {});
 }
 
+/** Returns a new Visual that holds a Mesh object */
+inline rbd::parsers::Visual makeVisualMesh(const std::string & path, double scale)
+{
+  return makeVisualMesh(path, Eigen::Vector3d(scale, scale, scale));
+}
+
 /** Get the mesh data if the visual is a mesh, throws otherwise */
 inline constexpr auto getVisualMesh = details::getVisualGeometry<rbd::parsers::Geometry::Type::MESH>;