Add support for polygon mesh

tesseract-robotics · Jan 8, 2024 · 82c2a81 · 82c2a81
1 parent 8042e6c
commit 82c2a81
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Showing 3 changed files with 7 additions and 0 deletions.
diff --git a/scene_graph/src/models/collision_standard_item.cpp b/scene_graph/src/models/collision_standard_item.cpp
@@ -108,6 +108,7 @@ void CollisionStandardItem::ctor()
     }
     case tesseract_geometry::GeometryType::CONVEX_MESH:
     case tesseract_geometry::GeometryType::MESH:
+    case tesseract_geometry::GeometryType::POLYGON_MESH:
     case tesseract_geometry::GeometryType::SDF_MESH:
     {
       geometry_item = new PolygonMeshStandardItem(

diff --git a/scene_graph/src/models/polygon_mesh_standard_item.cpp b/scene_graph/src/models/polygon_mesh_standard_item.cpp
@@ -71,6 +71,11 @@ void PolygonMeshStandardItem::ctor()
     setIcon(icons::getMeshIcon());
     setText("Mesh");
   }
+  else if (mesh->getType() == tesseract_geometry::GeometryType::POLYGON_MESH)
+  {
+    setIcon(icons::getMeshIcon());
+    setText("Polygon Mesh");
+  }
   else if (mesh->getType() == tesseract_geometry::GeometryType::SDF_MESH)
   {
     setIcon(icons::getMeshIcon());

diff --git a/scene_graph/src/models/visual_standard_item.cpp b/scene_graph/src/models/visual_standard_item.cpp
@@ -110,6 +110,7 @@ void VisualStandardItem::ctor()
     }
     case tesseract_geometry::GeometryType::CONVEX_MESH:
     case tesseract_geometry::GeometryType::MESH:
+    case tesseract_geometry::GeometryType::POLYGON_MESH:
     case tesseract_geometry::GeometryType::SDF_MESH:
     {
       geometry_item = new PolygonMeshStandardItem(