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Parse voxel resolution SDF param when decomposing meshes #2445

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merged 4 commits into from
Jun 17, 2024
Merged

Parse voxel resolution SDF param when decomposing meshes #2445

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4f1d009
Parse voxel resolution when decomposing meshes
iche033 Jun 14, 2024
b5c0d3b
minor fix to name
iche033 Jun 17, 2024
10b7266
Merge branch 'gz-sim8' into voxel_resolution
iche033 Jun 17, 2024
d361332
revert change
iche033 Jun 17, 2024
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18 changes: 11 additions & 7 deletions src/Util.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -891,20 +891,24 @@ const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,

auto &meshManager = *common::MeshManager::Instance();
std::size_t maxConvexHulls = 16u;
std::size_t voxelResolution = 200000u;
if (_meshSdf.ConvexDecomposition())
{
// limit max number of convex hulls to generate
maxConvexHulls = _meshSdf.ConvexDecomposition()->MaxConvexHulls();
voxelResolution = _meshSdf.ConvexDecomposition()->VoxelResolution();
}
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);
_mesh.Name() + "_" + _meshSdf.Submesh() + "_CONVEX_" +
std::to_string(maxConvexHulls) + "_" + std::to_string(voxelResolution);
auto *optimizedMesh = meshManager.MeshByName(convexMeshName);
if (!optimizedMesh)
{
Expand All @@ -916,7 +920,7 @@ const common::Mesh *optimizeMesh(const sdf::Mesh &_meshSdf,
auto mergedSubmesh = mergedMesh->SubMeshByIndex(0u).lock();
std::vector<common::SubMesh> decomposed =
gz::common::MeshManager::ConvexDecomposition(
*mergedSubmesh.get(), maxConvexHulls);
*mergedSubmesh.get(), maxConvexHulls, voxelResolution);
gzdbg << "Optimizing mesh (" << _meshSdf.OptimizationStr() << "): "
<< _mesh.Name() << std::endl;
// Create decomposed mesh and add it to MeshManager
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