gkjohnson / urdf-exporter-js

Utility for exporting THREE.js object trees as a URDF file

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Support collapsing of visual links

gkjohnson opened this issue · comments

The collada format affords storing a tree of visual data, meaning that not every visual link needs to export its own geometry. There should be some way to notify the exporter that a provided mesh recursively includes all child geometry so that subsequent links don't need to be traversed.

Approach

  • Run every link through the mesh function, even it if has no geometry
  • Returning null means no visual node / geometry
  • This would remove the ability to cache and reuse processed meshes.

Questions

  • Is it possible to run through the model and then merge any visual nodes that are just fixed?

This is supported flexibly enough by isLeaf