Update UpdateGeomSize().

Signed-off-by: Carlos Agüero <[email protected]>
gazebosim · Aug 30, 2021 · f126b66 · f126b66
1 parent 831ddfa
commit f126b66
Showing 1 changed file with 12 additions and 3 deletions.
diff --git a/src/gui/plugins/scene3d/Scene3D.cc b/src/gui/plugins/scene3d/Scene3D.cc
@@ -3082,12 +3082,15 @@ bool Scene3D::UpdateGeomSize(sdf::ElementPtr &_modelElem,
  return false;
 
  sdf::ElementPtr linkElem = _modelElem->GetElement("link");
- if (!linkElem->HasElement("visual"))
- return false;
 
+ bool scaled = false;
  for (auto label : {"visual", "collision"})
  {
+ if (!linkElem->HasElement(label))
+ continue;
+
  sdf::ElementPtr elem = linkElem->GetElement(label);
+
  if (!elem->HasElement("geometry"))
  continue;
 
@@ -3099,6 +3102,7 @@ bool Scene3D::UpdateGeomSize(sdf::ElementPtr &_modelElem,
  ignition::math::Vector3d geomBoxSize = _scale * size;
 
  geomElem->GetElement("box")->GetElement("size")->Set(geomBoxSize);
+ scaled = true;
  }
  else if (geomElem->HasElement("sphere"))
  {
@@ -3107,6 +3111,7 @@ bool Scene3D::UpdateGeomSize(sdf::ElementPtr &_modelElem,
  double newRadius = _scale.Max();
  double geomRadius = newRadius * radius;
  geomElem->GetElement("sphere")->GetElement("radius")->Set(geomRadius);
+ scaled = true;
  }
  else if (geomElem->HasElement("cylinder"))
  {
@@ -3118,12 +3123,16 @@ bool Scene3D::UpdateGeomSize(sdf::ElementPtr &_modelElem,
  double geomLength = _scale.Z() * length;
  geomElem->GetElement("cylinder")->GetElement("radius")->Set(geomRadius);
  geomElem->GetElement("cylinder")->GetElement("length")->Set(geomLength);
+ scaled = true;
  }
  else if (geomElem->HasElement("mesh"))
+ {
  geomElem->GetElement("mesh")->GetElement("scale")->Set(_scale);
+ scaled = true;
+ }
  }
 
- return true;
+ return scaled;
 }
 
 /////////////////////////////////////////////////