update code to merge meshes before decomp

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Apr 1, 2024 · 69851f4 · 69851f4
1 parent dd2c5ba
commit 69851f4
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Showing 4 changed files with 78 additions and 39 deletions.
diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -213,11 +213,18 @@ msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
     meshMsg->set_submesh(meshSdf->Submesh());
     meshMsg->set_center_submesh(meshSdf->CenterSubmesh());
 
-    if (!meshSdf->Simplification().empty())
+    if (!meshSdf->OptimizationStr().empty())
     {
       auto header = out.mutable_header()->add_data();
-      header->set_key("simplification");
-      header->add_value(meshSdf->Simplification());
+      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()));
     }
   }
   else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
@@ -351,9 +358,15 @@ sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
     for (int i = 0; i < _in.header().data_size(); ++i)
     {
       auto data = _in.header().data(i);
-      if (data.key() == "simplification" && data.value_size() > 0)
+      if (data.key() == "optimization" && data.value_size() > 0)
+      {
+        meshShape.SetOptimization(data.value(0));
+      }
+      if (data.key() == "max_convex_hulls" && data.value_size() > 0)
       {
-        meshShape.SetSimplification(data.value(0));
+        sdf::ConvexDecomposition convexDecomp;
+        convexDecomp.SetMaxConvexHulls(std::stoul(data.value(0)));
+        meshShape.SetConvexDecomposition(convexDecomp);
       }
     }
     out.SetMeshShape(meshShape);

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -463,7 +463,7 @@ TEST(Conversions, GeometryMesh)
   meshShape.SetUri("file://watermelon");
   meshShape.SetSubmesh("grape");
   meshShape.SetCenterSubmesh(true);
-  meshShape.SetSimplification("convex_decomposition");
+  meshShape.SetOptimization("convex_decomposition");
   geometry.SetMeshShape(meshShape);
 
   auto geometryMsg = convert<msgs::Geometry>(geometry);
@@ -475,7 +475,7 @@ TEST(Conversions, GeometryMesh)
   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("optimization", header.key());
   EXPECT_EQ("convex_decomposition", header.value(0));
 
   auto newGeometry = convert<sdf::Geometry>(geometryMsg);
@@ -485,7 +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());
+  EXPECT_EQ("convex_decomposition", newGeometry.MeshShape()->OptimizationStr());
 }
 
 /////////////////////////////////////////////////

diff --git a/src/Server.cc b/src/Server.cc
@@ -145,8 +145,6 @@ Server::Server(const ServerConfig &_config)
 
       sdf::Root sdfRoot;
       sdf::ParserConfig sdfParserConfig = sdf::ParserConfig::GlobalConfig();
-      sdfParserConfig.SetStoreResolvedURIs(true);
-
       sdfParserConfig.SetCalculateInertialConfiguration(
         sdf::ConfigureResolveAutoInertials::SKIP_CALCULATION_IN_LOAD);
 

diff --git a/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc b/src/gui/plugins/visualization_capabilities/VisualizationCapabilities.cc
@@ -21,6 +21,7 @@
 #include <gz/msgs/stringmsg.pb.h>
 
 #include <algorithm>
+#include <cstddef>
 #include <iostream>
 #include <map>
 #include <set>
@@ -1248,47 +1249,74 @@ rendering::GeometryPtr VisualizationCapabilitiesPrivate::CreateGeometry(
     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)
+    if (_geom.MeshShape()->Optimization() ==
+        sdf::MeshOptimization::CONVEX_HULL ||
+        _geom.MeshShape()->Optimization() ==
+        sdf::MeshOptimization::CONVEX_DECOMPOSITION)
+    {
+      std::unique_ptr<common::Mesh> meshToDecompose =
+          std::make_unique<common::Mesh>();
+      // check if a particular submesh is requested
+      if (!descriptor.subMeshName.empty())
       {
-        auto s = descriptor.mesh->SubMeshByIndex(submeshIdx).lock();
-
-        // check if a particular submesh is requested
-        if (!descriptor.subMeshName.empty() &&
-            s->Name() != descriptor.subMeshName)
+        for (unsigned int submeshIdx = 0;
+             submeshIdx < descriptor.mesh->SubMeshCount();
+             ++submeshIdx)
         {
-          continue;
+          auto submesh = descriptor.mesh->SubMeshByIndex(submeshIdx).lock();
+          if (submesh->Name() == descriptor.subMeshName)
+          {
+            if (descriptor.centerSubMesh)
+              submesh->Center(math::Vector3d::Zero);
+            meshToDecompose->AddSubMesh(*submesh.get());
+            break;
+          }
         }
-
-        // center the submesh if needed
-        if (descriptor.centerSubMesh)
-          s->Center(math::Vector3d::Zero);
-
-        // convex decomposition
-        auto decomposed = meshManager->ConvexDecomposition(s.get());
+      }
+      else
+      {
+        meshToDecompose =
+            gz::common::MeshManager::MergeSubMeshes(*descriptor.mesh);
+      }
+      if (meshToDecompose && meshToDecompose->SubMeshCount() == 1u)
+      {
+        std::size_t maxConvexHulls = 16u;
+        if (_geom.MeshShape()->Optimization() ==
+            sdf::MeshOptimization::CONVEX_HULL)
+        {
+          /// create 1 convex hull for the whole submesh
+          maxConvexHulls = 1u;
+        }
+        else if (_geom.MeshShape()->ConvexDecomposition())
+        {
+          // limit max number of convex hulls to generate
+          maxConvexHulls =
+              _geom.MeshShape()->ConvexDecomposition()->MaxConvexHulls();
+        }
+        auto submesh = meshToDecompose->SubMeshByIndex(0u).lock();
+        std::vector<common::SubMesh> decomposed =
+            gz::common::MeshManager::ConvexDecomposition(
+            *submesh.get(), maxConvexHulls);
+        gzdbg << "Optimizing mesh (" << _geom.MeshShape()->OptimizationStr()
+              << "): " <<  descriptor.mesh->Name() << std::endl;
         if (!decomposed.empty())
         {
           for (std::size_t n = 0; n < decomposed.size(); ++n)
           {
             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;
+        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();
   }