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Support visualizing mesh collisions with convex decomposition #2331

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Support visualizing mesh collisions with convex decomposition #2331

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417b0d6
visualize mesh collisions with convex decomposition
iche033 Mar 13, 2024
4fd13b6
revert change
iche033 Mar 13, 2024
1711d35
remove line
iche033 Mar 13, 2024
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15 changes: 15 additions & 0 deletions src/Conversions.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -212,6 +212,13 @@ 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->Simplification().empty())
{
auto header = out.mutable_header()->add_data();
header->set_key("simplification");
header->add_value(meshSdf->Simplification());
}
}
else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
{
Expand Down Expand Up @@ -341,6 +348,14 @@ sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
meshShape.SetSubmesh(_in.mesh().submesh());
meshShape.SetCenterSubmesh(_in.mesh().center_submesh());

for (int i = 0; i < _in.header().data_size(); ++i)
{
auto data = _in.header().data(i);
if (data.key() == "simplification" && data.value_size() > 0)
{
meshShape.SetSimplification(data.value(0));
}
}
out.SetMeshShape(meshShape);
}
else if (_in.type() == msgs::Geometry::HEIGHTMAP && _in.has_heightmap())
Expand Down
5 changes: 5 additions & 0 deletions src/Conversions_TEST.cc
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Expand Up @@ -463,6 +463,7 @@ TEST(Conversions, GeometryMesh)
meshShape.SetUri("file://watermelon");
meshShape.SetSubmesh("grape");
meshShape.SetCenterSubmesh(true);
meshShape.SetSimplification("convex_decomposition");
geometry.SetMeshShape(meshShape);

auto geometryMsg = convert<msgs::Geometry>(geometry);
Expand All @@ -473,6 +474,9 @@ TEST(Conversions, GeometryMesh)
EXPECT_EQ("file://watermelon", geometryMsg.mesh().filename());
EXPECT_EQ("grape", geometryMsg.mesh().submesh());
EXPECT_TRUE(geometryMsg.mesh().center_submesh());
auto header = geometryMsg.header().data(0);
EXPECT_EQ("simplification", header.key());
EXPECT_EQ("convex_decomposition", header.value(0));

auto newGeometry = convert<sdf::Geometry>(geometryMsg);
EXPECT_EQ(sdf::GeometryType::MESH, newGeometry.Type());
Expand All @@ -481,6 +485,7 @@ TEST(Conversions, GeometryMesh)
EXPECT_EQ("file://watermelon", newGeometry.MeshShape()->Uri());
EXPECT_EQ("grape", newGeometry.MeshShape()->Submesh());
EXPECT_TRUE(newGeometry.MeshShape()->CenterSubmesh());
EXPECT_EQ("convex_decomposition", newGeometry.MeshShape()->Simplification());
}

/////////////////////////////////////////////////
Expand Down
44 changes: 44 additions & 0 deletions src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
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Expand Up @@ -39,6 +39,7 @@
#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 @@ -1245,6 +1246,49 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(
gz::common::MeshManager *meshManager =
gz::common::MeshManager::Instance();
descriptor.mesh = meshManager->Load(descriptor.meshName);

common::Mesh newMesh;
if (_geom.MeshShape()->Simplification() == "convex_decomposition")
{
gzdbg << "Simplifying mesh: " << descriptor.mesh->Name() << std::endl;
for (unsigned int submeshIdx = 0;
submeshIdx < descriptor.mesh->SubMeshCount();
++submeshIdx)
{
auto s = descriptor.mesh->SubMeshByIndex(submeshIdx).lock();

// check if a particular submesh is requested
if (!descriptor.subMeshName.empty() &&
s->Name() != descriptor.subMeshName)
{
continue;
}

// center the submesh if needed
if (descriptor.centerSubMesh)
s->Center(math::Vector3d::Zero);

// convex decomposition
auto decomposed = meshManager->ConvexDecomposition(s.get());
if (!decomposed.empty())
{
for (std::size_t n = 0; n < decomposed.size(); ++n)
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include <cstddef>

{
newMesh.AddSubMesh(decomposed[n]);
}
}
}
if (newMesh.SubMeshCount() > 0u)
{
descriptor.mesh = &newMesh;
// if submesh is requested, we handled this above before mesh
// decomposition so we do not need need to pass these flags to
// gz-rendering
descriptor.subMeshName = "";
descriptor.centerSubMesh = false;
}
}

geom = this->scene->CreateMesh(descriptor);
scale = _geom.MeshShape()->Scale();
}
Expand Down
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