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Add mesh simplification attribute to <mesh> #1380

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Add mesh simplification attribute to <mesh> #1380

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37a2ab3
Add mesh simplification attribute
iche033 Mar 7, 2024
64d7c97
add enum, expand sdf doc
iche033 Mar 14, 2024
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9 changes: 9 additions & 0 deletions include/sdf/Mesh.hh
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Expand Up @@ -61,6 +61,15 @@ namespace sdf
/// an error code and message. An empty vector indicates no error.
public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);

/// \brief Get the mesh's simplifcation method
/// \return The mesh simplification method.
/// Empty string if no mesh simplificaton is done.
public: std::string Simplification() const;

/// \brief Set the mesh simplification method.
/// \param[in] _simplifcation The mesh simplification method.
public: void SetSimplification(const std::string &_simplifcation);

/// \brief Get the mesh's URI.
/// \return The URI of the mesh data.
public: std::string Uri() const;
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7 changes: 7 additions & 0 deletions sdf/1.11/mesh_shape.sdf
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@@ -1,5 +1,12 @@
<element name="mesh" required="0">
<description>Mesh shape</description>

<attribute name="simplification" type="string" default="" required="0">
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I'm trying to decide if simplification is the right name for this attribute.

Alternatives (which might not be better):

  • //mesh/@transformation
  • //mesh/@convexity

with candidate values:

  • use_convex_hull
  • use_convex_decomposition

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I think transformation is generic and would be another good candidate. So we don't limit this to just creating convex meshes

<description>
Set whether to simplify the mesh using one of the specified methods. Values include: "convex_hull", "convex_decomposition". Default value is an empty string which means no mesh simplification.
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Could it make sense to add a sentence, a link or a reference to what these methods mean?

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expanded this to include description for the values. 64d7c97

</description>
</attribute>

<element name="uri" type="string" default="__default__" required="1">
<description>Mesh uri</description>
</element>
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26 changes: 26 additions & 0 deletions src/Mesh.cc
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Expand Up @@ -30,6 +30,9 @@ using namespace sdf;
// Private data class
class sdf::Mesh::Implementation
{
/// \brief Mesh simplification method
public: std::string simplification;
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maybe use a enum here?

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added enum in 64d7c97


/// \brief The mesh's URI.
public: std::string uri = "";

Expand Down Expand Up @@ -87,6 +90,13 @@ Errors Mesh::Load(ElementPtr _sdf, const ParserConfig &_config)
return errors;
}

// Simplify
if (_sdf->HasAttribute("simplification"))
{
this->dataPtr->simplification = _sdf->Get<std::string>("simplification",
this->dataPtr->simplification).first;
}

if (_sdf->HasElement("uri"))
{
std::unordered_set<std::string> paths;
Expand Down Expand Up @@ -140,6 +150,18 @@ sdf::ElementPtr Mesh::Element() const
return this->dataPtr->sdf;
}

//////////////////////////////////////////////////
std::string Mesh::Simplification() const
{
return this->dataPtr->simplification;
}

//////////////////////////////////////////////////
void Mesh::SetSimplification(const std::string &_simplification)
{
this->dataPtr->simplification = _simplification;
}

//////////////////////////////////////////////////
std::string Mesh::Uri() const
{
Expand Down Expand Up @@ -244,6 +266,10 @@ sdf::ElementPtr Mesh::ToElement(sdf::Errors &_errors) const
sdf::ElementPtr elem(new sdf::Element);
sdf::initFile("mesh_shape.sdf", elem);

// Simplification
elem->GetAttribute("simplification")->Set<std::string>(
this->dataPtr->simplification);

// Uri
sdf::ElementPtr uriElem = elem->GetElement("uri", _errors);
uriElem->Set(_errors, this->Uri());
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17 changes: 17 additions & 0 deletions src/Mesh_TEST.cc
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Expand Up @@ -34,6 +34,7 @@ TEST(DOMMesh, Construction)
sdf::Mesh mesh;
EXPECT_EQ(nullptr, mesh.Element());

EXPECT_EQ(std::string(), mesh.Simplification());
EXPECT_EQ(std::string(), mesh.FilePath());
EXPECT_EQ(std::string(), mesh.Uri());
EXPECT_EQ(std::string(), mesh.Submesh());
Expand All @@ -45,13 +46,15 @@ TEST(DOMMesh, Construction)
TEST(DOMMesh, MoveConstructor)
{
sdf::Mesh mesh;
mesh.SetSimplification("convex_hull");
mesh.SetUri("banana");
mesh.SetSubmesh("watermelon");
mesh.SetCenterSubmesh(true);
mesh.SetScale({0.5, 0.6, 0.7});
mesh.SetFilePath("/pear");

sdf::Mesh mesh2(std::move(mesh));
EXPECT_EQ("convex_hull", mesh2.Simplification());
EXPECT_EQ("banana", mesh2.Uri());
EXPECT_EQ("watermelon", mesh2.Submesh());
EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
Expand All @@ -63,13 +66,15 @@ TEST(DOMMesh, MoveConstructor)
TEST(DOMMesh, CopyConstructor)
{
sdf::Mesh mesh;
mesh.SetSimplification("convex_hull");
mesh.SetUri("banana");
mesh.SetSubmesh("watermelon");
mesh.SetCenterSubmesh(true);
mesh.SetScale({0.5, 0.6, 0.7});
mesh.SetFilePath("/pear");

sdf::Mesh mesh2(mesh);
EXPECT_EQ("convex_hull", mesh2.Simplification());
EXPECT_EQ("banana", mesh2.Uri());
EXPECT_EQ("watermelon", mesh2.Submesh());
EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
Expand All @@ -81,6 +86,7 @@ TEST(DOMMesh, CopyConstructor)
TEST(DOMMesh, CopyAssignmentOperator)
{
sdf::Mesh mesh;
mesh.SetSimplification("convex_hull");
mesh.SetUri("banana");
mesh.SetSubmesh("watermelon");
mesh.SetCenterSubmesh(true);
Expand All @@ -89,6 +95,7 @@ TEST(DOMMesh, CopyAssignmentOperator)

sdf::Mesh mesh2;
mesh2 = mesh;
EXPECT_EQ("convex_hull", mesh2.Simplification());
EXPECT_EQ("banana", mesh2.Uri());
EXPECT_EQ("watermelon", mesh2.Submesh());
EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
Expand All @@ -100,6 +107,7 @@ TEST(DOMMesh, CopyAssignmentOperator)
TEST(DOMMesh, MoveAssignmentOperator)
{
sdf::Mesh mesh;
mesh.SetSimplification("convex_hull");
mesh.SetUri("banana");
mesh.SetSubmesh("watermelon");
mesh.SetCenterSubmesh(true);
Expand All @@ -108,6 +116,7 @@ TEST(DOMMesh, MoveAssignmentOperator)

sdf::Mesh mesh2;
mesh2 = std::move(mesh);
EXPECT_EQ("convex_hull", mesh2.Simplification());
EXPECT_EQ("banana", mesh2.Uri());
EXPECT_EQ("watermelon", mesh2.Submesh());
EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
Expand Down Expand Up @@ -140,6 +149,10 @@ TEST(DOMMesh, Set)
sdf::Mesh mesh;
EXPECT_EQ(nullptr, mesh.Element());

EXPECT_EQ(std::string(), mesh.Simplification());
mesh.SetSimplification("convex_hull");
EXPECT_EQ("convex_hull", mesh.Simplification());

EXPECT_EQ(std::string(), mesh.Uri());
mesh.SetUri("http://myuri.com");
EXPECT_EQ("http://myuri.com", mesh.Uri());
Expand Down Expand Up @@ -296,6 +309,7 @@ TEST(DOMMesh, ToElement)
{
sdf::Mesh mesh;

mesh.SetSimplification("convex_hull");
mesh.SetUri("mesh-uri");
mesh.SetScale(gz::math::Vector3d(1, 2, 3));
mesh.SetSubmesh("submesh");
Expand All @@ -307,6 +321,7 @@ TEST(DOMMesh, ToElement)
sdf::Mesh mesh2;
mesh2.Load(elem);

EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
EXPECT_EQ(mesh.Uri(), mesh2.Uri());
EXPECT_EQ(mesh.Scale(), mesh2.Scale());
EXPECT_EQ(mesh.Submesh(), mesh2.Submesh());
Expand All @@ -332,6 +347,7 @@ TEST(DOMMesh, ToElementErrorOutput)
sdf::Mesh mesh;
sdf::Errors errors;

mesh.SetSimplification("convex_hull");
mesh.SetUri("mesh-uri");
mesh.SetScale(gz::math::Vector3d(1, 2, 3));
mesh.SetSubmesh("submesh");
Expand All @@ -345,6 +361,7 @@ TEST(DOMMesh, ToElementErrorOutput)
errors = mesh2.Load(elem);
EXPECT_TRUE(errors.empty());

EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
EXPECT_EQ(mesh.Uri(), mesh2.Uri());
EXPECT_EQ(mesh.Scale(), mesh2.Scale());
EXPECT_EQ(mesh.Submesh(), mesh2.Submesh());
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2 changes: 2 additions & 0 deletions test/integration/geometry_dom.cc
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Expand Up @@ -179,6 +179,8 @@ TEST(DOMGeometry, Shapes)
EXPECT_EQ(sdf::GeometryType::MESH, meshCol->Geom()->Type());
const sdf::Mesh *meshColGeom = meshCol->Geom()->MeshShape();
ASSERT_NE(nullptr, meshColGeom);
EXPECT_EQ("convex_hull", meshColGeom->Simplification());

EXPECT_EQ("https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/"
"mesh.dae", meshColGeom->Uri());
EXPECT_TRUE(gz::math::Vector3d(0.1, 0.2, 0.3) ==
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2 changes: 1 addition & 1 deletion test/sdf/shapes.sdf
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Expand Up @@ -120,7 +120,7 @@

<collision name="mesh_col">
<geometry>
<mesh>
<mesh simplification="convex_hull">
<uri>https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/mesh.dae</uri>
<submesh>
<name>my_submesh</name>
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