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Merge pull request #2432 from gazebosim/merge_8_main_20240605
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Merge 8 -> main
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@azeey
azeey authored Jun 5, 2024
2 parents 6f46876 + 3a33c32 commit 48d3ef2
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Showing 5 changed files with 109 additions and 80 deletions.
3 changes: 3 additions & 0 deletions CMakeLists.txt
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Expand Up @@ -65,6 +65,9 @@ cmake_dependent_option(USE_DIST_PACKAGES_FOR_PYTHON
# Search for project-specific dependencies
#============================================================================

# Setting this policy enables using the protobuf_MODULE_COMPATIBLE
# set command when cmake_minimum_required is less than 3.13
set(CMAKE_POLICY_DEFAULT_CMP0077 NEW)
# This option is needed to use the PROTOBUF_GENERATE_CPP
# in case protobuf is found with the CMake config files
# It needs to be set before any find_package(...) call
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7 changes: 7 additions & 0 deletions include/gz/sim/Util.hh
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Expand Up @@ -316,6 +316,13 @@ namespace gz
/// \return The loaded mesh or null if the mesh can not be loaded.
GZ_SIM_VISIBLE const common::Mesh *loadMesh(const sdf::Mesh &_meshSdf);

/// \brief Optimize input mesh.
/// \param[in] _meshSdf Mesh SDF DOM with mesh optimization parameters
/// \param[in] _mesh Input mesh to optimize.
/// \return The optimized mesh or null if the mesh can not be optimized.
GZ_SIM_VISIBLE const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
const common::Mesh &_mesh);

/// \brief Environment variable holding resource paths.
const std::string kResourcePathEnv{"GZ_SIM_RESOURCE_PATH"};

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78 changes: 78 additions & 0 deletions src/Util.cc
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Expand Up @@ -15,12 +15,17 @@
*
*/

#include <cstddef>
#include <string>
#include <vector>

#include <gz/msgs/entity.pb.h>

#include <gz/common/Filesystem.hh>
#include <gz/common/Mesh.hh>
#include <gz/common/MeshManager.hh>
#include <gz/common/StringUtils.hh>
#include <gz/common/SubMesh.hh>
#include <gz/common/URI.hh>
#include <gz/common/Util.hh>
#include <gz/math/Helpers.hh>
Expand Down Expand Up @@ -862,8 +867,81 @@ const common::Mesh *loadMesh(const sdf::Mesh &_meshSdf)
<< "]." << std::endl;
return nullptr;
}

if (mesh && _meshSdf.Optimization() != sdf::MeshOptimization::NONE)
{
const common::Mesh *optimizedMesh = optimizeMesh(_meshSdf, *mesh);
if (optimizedMesh)
return optimizedMesh;
else
gzwarn << "Failed to optimize Mesh " << mesh->Name() << std::endl;
}

return mesh;
}

const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
const common::Mesh &_mesh)
{
if (_meshSdf.Optimization() !=
sdf::MeshOptimization::CONVEX_DECOMPOSITION &&
_meshSdf.Optimization() !=
sdf::MeshOptimization::CONVEX_HULL)
return nullptr;

auto &meshManager = *common::MeshManager::Instance();
std::size_t maxConvexHulls = 16u;
if (_meshSdf.Optimization() == sdf::MeshOptimization::CONVEX_HULL)
{
/// create 1 convex hull for the whole submesh
maxConvexHulls = 1u;
}
else if (_meshSdf.ConvexDecomposition())
{
// limit max number of convex hulls to generate
maxConvexHulls = _meshSdf.ConvexDecomposition()->MaxConvexHulls();
}
// Check if MeshManager contains the decomposed mesh already. If not
// add it to the MeshManager so we do not need to decompose it again.
const std::string convexMeshName =
_mesh.Name() + "_CONVEX_" + std::to_string(maxConvexHulls);
auto *optimizedMesh = meshManager.MeshByName(convexMeshName);
if (!optimizedMesh)
{
// Merge meshes before convex decomposition
auto mergedMesh = gz::common::MeshManager::MergeSubMeshes(_mesh);
if (mergedMesh && mergedMesh->SubMeshCount() == 1u)
{
// Decompose and add mesh to MeshManager
auto mergedSubmesh = mergedMesh->SubMeshByIndex(0u).lock();
std::vector<common::SubMesh> decomposed =
gz::common::MeshManager::ConvexDecomposition(
*mergedSubmesh.get(), maxConvexHulls);
gzdbg << "Optimizing mesh (" << _meshSdf.OptimizationStr() << "): "
<< _mesh.Name() << std::endl;
// Create decomposed mesh and add it to MeshManager
// Note: MeshManager will call delete on this mesh in its destructor
// \todo(iche033) Consider updating MeshManager to accept
// unique pointers instead
common::Mesh *convexMesh = new common::Mesh;
convexMesh->SetName(convexMeshName);
for (const auto & submesh : decomposed)
convexMesh->AddSubMesh(submesh);
meshManager.AddMesh(convexMesh);
if (decomposed.empty())
{
// Print an error if convex decomposition returned empty submeshes
// but still add it to MeshManager to avoid going through the
// expensive convex decomposition process for the same mesh again
gzerr << "Convex decomposition generated zero meshes: "
<< _mesh.Name() << std::endl;
}
optimizedMesh = meshManager.MeshByName(convexMeshName);
}
}
return optimizedMesh;
}

}
}
}
8 changes: 8 additions & 0 deletions src/Util_TEST.cc
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Expand Up @@ -1023,4 +1023,12 @@ TEST_F(UtilTest, LoadMesh)
"test", "media", "duck.dae");
meshSdf.SetFilePath(filePath);
EXPECT_NE(nullptr, loadMesh(meshSdf));

EXPECT_TRUE(meshSdf.SetOptimization("convex_decomposition"));
sdf::ConvexDecomposition convexDecomp;
convexDecomp.SetMaxConvexHulls(16u);
meshSdf.SetConvexDecomposition(convexDecomp);
auto *optimizedMesh = loadMesh(meshSdf);
EXPECT_NE(nullptr, optimizedMesh);
EXPECT_EQ(16u, optimizedMesh->SubMeshCount());
}
93 changes: 13 additions & 80 deletions src/rendering/RenderUtil.cc
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Expand Up @@ -24,6 +24,7 @@
#include <vector>

#include <sdf/Actor.hh>
#include <sdf/Camera.hh>
#include <sdf/Collision.hh>
#include <sdf/Element.hh>
#include <sdf/Joint.hh>
Expand Down Expand Up @@ -1323,6 +1324,18 @@ void RenderUtil::Update()
gzerr << "Failed to create sensor [" << sensorName << "]"
<< std::endl;
}
else
{
auto sensorNode = this->dataPtr->sceneManager.NodeById(entity);
auto semPose = dataSdf.SemanticPose();
math::Pose3d sensorPose;
sdf::Errors errors = semPose.Resolve(sensorPose);
if (!errors.empty())
{
sensorPose = dataSdf.RawPose();
}
sensorNode->SetLocalPose(sensorPose);
}
}
}
}
Expand Down Expand Up @@ -2388,86 +2401,6 @@ void RenderUtilPrivate::UpdateRenderingEntities(
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update cameras
_ecm.Each<components::Camera, components::Pose>(
[&](const Entity &_entity,
const components::Camera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update depth cameras
_ecm.Each<components::DepthCamera, components::Pose>(
[&](const Entity &_entity,
const components::DepthCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update RGBD cameras
_ecm.Each<components::RgbdCamera, components::Pose>(
[&](const Entity &_entity,
const components::RgbdCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update gpu_lidar
_ecm.Each<components::GpuLidar, components::Pose>(
[&](const Entity &_entity,
const components::GpuLidar *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update thermal cameras
_ecm.Each<components::ThermalCamera, components::Pose>(
[&](const Entity &_entity,
const components::ThermalCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update segmentation cameras
_ecm.Each<components::SegmentationCamera, components::Pose>(
[&](const Entity &_entity,
const components::SegmentationCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update bounding box cameras
_ecm.Each<components::BoundingBoxCamera, components::Pose>(
[&](const Entity &_entity,
const components::BoundingBoxCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});

// Update wide angle cameras
_ecm.Each<components::WideAngleCamera, components::Pose>(
[&](const Entity &_entity,
const components::WideAngleCamera *,
const components::Pose *_pose)->bool
{
this->entityPoses[_entity] = _pose->Data();
return true;
});
}

//////////////////////////////////////////////////
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