Merge pull request robotology#845 from S-Dafarra/fix_minor_visualizat…

…ion_bugs Fixed some minor bugs in the visualization.
lrapetti · Apr 8, 2021 · 5d9d7a2 · 5d9d7a2
2 parents a75f105 + 3d80d56
commit 5d9d7a2
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Showing 2 changed files with 6 additions and 2 deletions.
diff --git a/src/visualization/src/Environment.cpp b/src/visualization/src/Environment.cpp
@@ -179,7 +179,7 @@ bool Environment::removeLight(const std::string& lightName)
             m_lights[i]->removeLight();
             delete m_lights[i];
             m_lights[i] = nullptr;
-            std::vector<Light*>::iterator it;
+            std::vector<Light*>::iterator it = m_lights.begin();
             std::advance(it,i);
             m_lights.erase(it);
             return true;

diff --git a/src/visualization/src/IrrlichtUtils.h b/src/visualization/src/IrrlichtUtils.h
@@ -161,14 +161,18 @@ inline irr::scene::ISceneNode * addGeometryToSceneManager(const iDynTree::SolidS
     // mesh has a specific formal (for now collada) that we now specifies internally materials
     bool use_iDynTree_material = true;
 
-    irr::scene::ISceneNode * geomNode = 0;
+    irr::scene::IMeshSceneNode * geomNode = 0;
 
     if (geom->isBox())
     {
         const iDynTree::Box* box = geom->asBox();
 
         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();