Merge pull request #874 from S-Dafarra/fix/boxVisualization

Fix the visualization of boxes.
robotology · Jun 7, 2021 · 7febf5a · 7febf5a
2 parents 065fcda + c7d37d9
commit 7febf5a
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diff --git a/CHANGELOG.md b/CHANGELOG.md
@@ -8,6 +8,7 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Fixed
 - The example file `examples/python/KinDynComputationsTutorial.py` has been fixed to work with Python 3 and iDynTree >= 2.0 (https://github.com/robotology/idyntree/pull/873).
+- Fix of a bug introduced by https://github.com/robotology/idyntree/pull/845 in the visualization of boxes (https://github.com/robotology/idyntree/pull/874)
 
 ## [3.2.0] - 2021-05-15
 

diff --git a/src/model/src/SolidShapes.cpp b/src/model/src/SolidShapes.cpp
@@ -42,7 +42,12 @@ namespace iDynTree
         m_texture = texture;
     }
 
-    SolidShape::SolidShape(): nameIsValid(false), m_isMaterialSet(false) {}
+    SolidShape::SolidShape()
+        : nameIsValid(false)
+        , link_H_geometry(iDynTree::Transform::Identity())
+        , m_isMaterialSet(false)
+    {
+    }
 
     SolidShape::~SolidShape()
     {

diff --git a/src/visualization/src/IrrlichtUtils.h b/src/visualization/src/IrrlichtUtils.h
@@ -169,10 +169,6 @@ inline irr::scene::ISceneNode * addGeometryToSceneManager(const iDynTree::SolidS
 
         irr::scene::IMesh* boxMesh = smgr->getGeometryCreator()->createCubeMesh(irr::core::vector3df(box->getX(),box->getY(),box->getZ()));
 
-        irr::core::matrix4 irr2idyntree;
-        irr2idyntree.buildRotateFromTo(irr::core::vector3df(0.0,1.0,0.0),irr::core::vector3df(0.0,0.0,1.0));
-        smgr->getMeshManipulator()->transform(boxMesh,irr2idyntree);
-
         geomNode = smgr->addMeshSceneNode(boxMesh,linkNode);
 
         boxMesh->drop();