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Backport convex decomposition visualization #2454

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Backport convex decomposition visualization #2454

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36 changes: 36 additions & 0 deletions src/Conversions.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,24 @@ msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
meshMsg->set_filename(asFullPath(meshSdf->Uri(), meshSdf->FilePath()));
meshMsg->set_submesh(meshSdf->Submesh());
meshMsg->set_center_submesh(meshSdf->CenterSubmesh());

if (!meshSdf->OptimizationStr().empty())
{
auto header = out.mutable_header()->add_data();
header->set_key("optimization");
header->add_value(meshSdf->OptimizationStr());
}
if (meshSdf->ConvexDecomposition())
{
auto header = out.mutable_header()->add_data();
header->set_key("max_convex_hulls");
header->add_value(std::to_string(
meshSdf->ConvexDecomposition()->MaxConvexHulls()));
header = out.mutable_header()->add_data();
header->set_key("voxel_resolution");
header->add_value(std::to_string(
meshSdf->ConvexDecomposition()->VoxelResolution()));
}
}
else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
{
Expand Down Expand Up @@ -341,6 +359,24 @@ sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
meshShape.SetSubmesh(_in.mesh().submesh());
meshShape.SetCenterSubmesh(_in.mesh().center_submesh());

sdf::ConvexDecomposition convexDecomp;
for (int i = 0; i < _in.header().data_size(); ++i)
{
auto data = _in.header().data(i);
if (data.key() == "optimization" && data.value_size() > 0)
{
meshShape.SetOptimization(data.value(0));
}
if (data.key() == "max_convex_hulls" && data.value_size() > 0)
{
convexDecomp.SetMaxConvexHulls(std::stoul(data.value(0)));
}
if (data.key() == "voxel_resolution" && data.value_size() > 0)
{
convexDecomp.SetVoxelResolution(std::stoul(data.value(0)));
}
}
meshShape.SetConvexDecomposition(convexDecomp);
out.SetMeshShape(meshShape);
}
else if (_in.type() == msgs::Geometry::HEIGHTMAP && _in.has_heightmap())
Expand Down
19 changes: 19 additions & 0 deletions src/Conversions_TEST.cc
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Expand Up @@ -463,6 +463,11 @@ TEST(Conversions, GeometryMesh)
meshShape.SetUri("file:https://watermelon");
meshShape.SetSubmesh("grape");
meshShape.SetCenterSubmesh(true);
meshShape.SetOptimization("convex_decomposition");
sdf::ConvexDecomposition convexDecomp;
convexDecomp.SetMaxConvexHulls(4);
convexDecomp.SetVoxelResolution(10000);
meshShape.SetConvexDecomposition(convexDecomp);
geometry.SetMeshShape(meshShape);

auto geometryMsg = convert<msgs::Geometry>(geometry);
Expand All @@ -473,6 +478,15 @@ TEST(Conversions, GeometryMesh)
EXPECT_EQ("file:https://watermelon", geometryMsg.mesh().filename());
EXPECT_EQ("grape", geometryMsg.mesh().submesh());
EXPECT_TRUE(geometryMsg.mesh().center_submesh());
auto header = geometryMsg.header().data(0);
EXPECT_EQ("optimization", header.key());
EXPECT_EQ("convex_decomposition", header.value(0));
header = geometryMsg.header().data(1);
EXPECT_EQ("max_convex_hulls", header.key());
EXPECT_EQ("4", header.value(0));
header = geometryMsg.header().data(2);
EXPECT_EQ("voxel_resolution", header.key());
EXPECT_EQ("10000", header.value(0));

auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::MESH, newGeometry.Type());
Expand All @@ -481,6 +495,11 @@ TEST(Conversions, GeometryMesh)
EXPECT_EQ("file:https://watermelon", newGeometry.MeshShape()->Uri());
EXPECT_EQ("grape", newGeometry.MeshShape()->Submesh());
EXPECT_TRUE(newGeometry.MeshShape()->CenterSubmesh());
EXPECT_EQ("convex_decomposition", newGeometry.MeshShape()->OptimizationStr());
auto newConvexDecomp = newGeometry.MeshShape()->ConvexDecomposition();
ASSERT_NE(nullptr, newConvexDecomp);
EXPECT_EQ(4, newConvexDecomp->MaxConvexHulls());
EXPECT_EQ(10000, newConvexDecomp->VoxelResolution());
}

/////////////////////////////////////////////////
Expand Down
32 changes: 28 additions & 4 deletions src/Util.cc
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Expand Up @@ -912,12 +912,36 @@ const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
auto *optimizedMesh = meshManager.MeshByName(convexMeshName);
if (!optimizedMesh)
{
// Merge meshes before convex decomposition
auto mergedMesh = gz::common::MeshManager::MergeSubMeshes(_mesh);
if (mergedMesh && mergedMesh->SubMeshCount() == 1u)
std::unique_ptr<common::Mesh> meshToDecompose =
std::make_unique<common::Mesh>();
// check if a particular submesh is requested
if (!_meshSdf.Submesh().empty())
{
for (unsigned int submeshIdx = 0;
submeshIdx < _mesh.SubMeshCount();
++submeshIdx)
{
auto submesh = _mesh.SubMeshByIndex(submeshIdx).lock();
if (submesh->Name() == _meshSdf.Submesh())
{
if (_meshSdf.CenterSubmesh())
submesh->Center(math::Vector3d::Zero);
meshToDecompose->AddSubMesh(*submesh.get());
break;
}
}
}
else
{
// Merge meshes before convex decomposition
meshToDecompose =
gz::common::MeshManager::MergeSubMeshes(_mesh);
}

if (meshToDecompose && meshToDecompose->SubMeshCount() == 1u)
{
// Decompose and add mesh to MeshManager
auto mergedSubmesh = mergedMesh->SubMeshByIndex(0u).lock();
auto mergedSubmesh = meshToDecompose->SubMeshByIndex(0u).lock();
std::vector<common::SubMesh> decomposed =
gz::common::MeshManager::ConvexDecomposition(
*mergedSubmesh.get(), maxConvexHulls, voxelResolution);
Expand Down
19 changes: 16 additions & 3 deletions src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -21,6 +21,7 @@
#include <gz/msgs/stringmsg.pb.h>

#include <algorithm>
#include <cstddef>
#include <iostream>
#include <map>
#include <set>
Expand All @@ -39,6 +40,7 @@
#include <gz/common/MeshManager.hh>
#include <gz/common/Profiler.hh>
#include <gz/common/StringUtils.hh>
#include <gz/common/SubMesh.hh>
#include <gz/common/Uuid.hh>

#include <gz/gui/Application.hh>
Expand Down Expand Up @@ -1239,14 +1241,25 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(

// Assume absolute path to mesh file
descriptor.meshName = fullPath;
descriptor.subMeshName = _geom.MeshShape()->Submesh();
descriptor.centerSubMesh = _geom.MeshShape()->CenterSubmesh();

gz::common::MeshManager *meshManager =
gz::common::MeshManager::Instance();
descriptor.mesh = meshManager->Load(descriptor.meshName);
if (descriptor.mesh)
{
if (_geom.MeshShape()->Optimization() != sdf::MeshOptimization::NONE)
{
const common::Mesh *optimizedMesh =
optimizeMesh(*_geom.MeshShape(), *descriptor.mesh);
if (optimizedMesh)
{
descriptor.mesh = optimizedMesh;
// if submesh is requested, it should be handled in the optimizeMesh
// function so we do not need need to pass these flags to
// gz-rendering
descriptor.subMeshName = "";
descriptor.centerSubMesh = false;
}
}
geom = this->scene->CreateMesh(descriptor);
}
else
Expand Down
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