Add material to GeometryObject #2119
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jorisv
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jcarpent
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include/pinocchio/bindings/python/multibody/geometry-object.hpp
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jcarpent
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The CI failure seems to be independent of the content of this PR. Let's move on. |
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This PR solve #2084.
I have added
GeometryObject::meshMaterialattribute to store different kind of material with a boost::variant.Right now, only two material type exists : GeometryNoMaterial and GeometryPhongMaterial.
But more complex ones can be added in the future.
The boost::variant Python binding is working well and can maybe be ported to manage the
Model::joints.meshcat_visualizer.pyuse this new feature BUT meshcat-python Phong material is not implemented.I had to patch my meshcat-python to be able to display specular et emissive light.
Before merging I have to add an example but I would like to have a technical review before going further.