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Add transformation matrix to ColladaExport #100

Merged
merged 13 commits into from
Nov 18, 2020
Merged

Add transformation matrix to ColladaExport #100

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f368d5e
Added transformations to export
Sep 28, 2020
dd7c6b0
Fixed texture images path
Oct 13, 2020
836a9be
Addressed review comments. Added tests
Oct 19, 2020
af8ec51
Addressed review comments
Oct 28, 2020
8b0de1a
Remove virtual modifier
Oct 28, 2020
d4cfae1
Fixed style
Oct 28, 2020
a1ff814
Style fixes 2
Oct 28, 2020
2fb657c
Final style changes...
Oct 28, 2020
2311ada
Fixed warning
Oct 29, 2020
4809c51
Comments based on review
Nov 9, 2020
0bb54cb
Fixed code style
Nov 9, 2020
a3a2bfd
Fixed code
Nov 9, 2020
af0b631
Merge branch 'ign-common3' into ign-common3
mjcarroll Nov 18, 2020
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7 changes: 7 additions & 0 deletions graphics/include/ignition/common/ColladaExporter.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -19,11 +19,14 @@

#include <memory>
#include <string>
#include <vector>

#include <ignition/common/MeshExporter.hh>
#include <ignition/common/graphics/Export.hh>
#include <ignition/common/SuppressWarning.hh>

#include <ignition/math/Matrix4.hh>

namespace ignition
{
namespace common
Expand All @@ -47,6 +50,10 @@ namespace ignition
public: virtual void Export(const Mesh *_mesh,
const std::string &_filename, bool _exportTextures = false);

public: void Export(const Mesh *_mesh,
const std::string &_filename, bool _exportTextures,
const std::vector<math::Matrix4d> &_submeshToMatrix);
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IGN_COMMON_WARN_IGNORE__DLL_INTERFACE_MISSING
/// \internal
/// \brief Pointer to private data.
Expand Down
90 changes: 65 additions & 25 deletions graphics/src/ColladaExporter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -112,7 +112,8 @@ class ignition::common::ColladaExporterPrivate
/// \param[in] _libraryVisualScenesXml Pointer to the library visual
/// scenes XML instance
public: void ExportVisualScenes(
tinyxml2::XMLElement *_libraryVisualScenesXml);
tinyxml2::XMLElement *_libraryVisualScenesXml,
const std::vector<math::Matrix4d> &_submeshToMatrix);

/// \brief Export scene element
/// \param[in] _sceneXml Pointer to the scene XML instance
Expand Down Expand Up @@ -153,6 +154,23 @@ ColladaExporter::~ColladaExporter()
void ColladaExporter::Export(const Mesh *_mesh, const std::string &_filename,
bool _exportTextures)
{
std::vector<math::Matrix4d> empty;
this->Export(_mesh, _filename, _exportTextures, empty);
}

//////////////////////////////////////////////////
void ColladaExporter::Export(const Mesh *_mesh, const std::string &_filename,
bool _exportTextures, const std::vector<math::Matrix4d> &_submeshToMatrix)
{
if ( _submeshToMatrix.size() > 0 &&
(_mesh->SubMeshCount() != _submeshToMatrix.size()) )
{
ignerr << "_submeshToMatrix.size() : " << _mesh->SubMeshCount()
<< " , must be equal to SubMeshCount() : " << _mesh->SubMeshCount()
<< std::endl;
return;
}

this->dataPtr->mesh = _mesh;
this->dataPtr->materialCount = this->dataPtr->mesh->MaterialCount();
this->dataPtr->subMeshCount = this->dataPtr->mesh->SubMeshCount();
Expand All @@ -165,14 +183,6 @@ void ColladaExporter::Export(const Mesh *_mesh, const std::string &_filename,
this->dataPtr->path = unix_filename.substr(0, beginFilename);
this->dataPtr->filename = unix_filename.substr(beginFilename);

if (this->dataPtr->materialCount != 0 &&
this->dataPtr->materialCount != this->dataPtr->subMeshCount)
{
ignwarn << "Material count [" << this->dataPtr->materialCount <<
"] different from submesh count [" <<
this->dataPtr->subMeshCount << "]\n";
}

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// Collada file
tinyxml2::XMLDocument xmlDoc;

Expand Down Expand Up @@ -223,7 +233,7 @@ void ColladaExporter::Export(const Mesh *_mesh, const std::string &_filename,
// Library visual scenes element
tinyxml2::XMLElement *libraryVisualScenesXml =
xmlDoc.NewElement("library_visual_scenes");
this->dataPtr->ExportVisualScenes(libraryVisualScenesXml);
this->dataPtr->ExportVisualScenes(libraryVisualScenesXml, _submeshToMatrix);
colladaXml->LinkEndChild(libraryVisualScenesXml);

// Scene element
Expand Down Expand Up @@ -390,9 +400,12 @@ void ColladaExporterPrivate::ExportGeometries(
{
for (unsigned int i = 0; i < this->subMeshCount; ++i)
{
unsigned int materialIndex =
this->mesh->SubMeshByIndex(i).lock()->MaterialIndex();

char meshId[100], materialId[100];
snprintf(meshId, sizeof(meshId), "mesh_%u", i);
snprintf(materialId, sizeof(materialId), "material_%u", i);
snprintf(materialId, sizeof(materialId), "material_%u", materialIndex);

tinyxml2::XMLElement *geometryXml =
_libraryGeometriesXml->GetDocument()->NewElement("geometry");
Expand Down Expand Up @@ -506,14 +519,16 @@ int ColladaExporterPrivate::ExportImages(

tinyxml2::XMLElement *initFromXml =
_libraryImagesXml->GetDocument()->NewElement("init_from");
initFromXml->LinkEndChild(_libraryImagesXml->GetDocument()->NewText(
imageString.substr(imageString.find("meshes/")+7).c_str()));
const auto imageName = imageString.substr(imageString.rfind("/"));
const auto imagePath = ignition::common::joinPaths("..", "materials",
"textures", imageName);
initFromXml->LinkEndChild(
_libraryImagesXml->GetDocument()->NewText(imagePath.c_str()));
imageXml->LinkEndChild(initFromXml);

if (this->exportTextures)
{
createDirectories(this->path + this->filename + "/materials/textures");

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std::ifstream src(imageString.c_str(), std::ios::binary);
std::ofstream dst((this->path + this->filename +
"/materials/textures" + imageString.substr(
Expand Down Expand Up @@ -672,7 +687,7 @@ void ColladaExporterPrivate::ExportEffects(
{
tinyxml2::XMLElement *textureXml =
_libraryEffectsXml->GetDocument()->NewElement("texture");
snprintf(id, sizeof(id), "image_%u", i);
snprintf(id, sizeof(id), "image_%u_sampler", i);
textureXml->SetAttribute("texture", id);
textureXml->SetAttribute("texcoord", "UVSET0");
diffuseXml->LinkEndChild(textureXml);
Expand Down Expand Up @@ -736,37 +751,62 @@ void ColladaExporterPrivate::ExportEffects(

//////////////////////////////////////////////////
void ColladaExporterPrivate::ExportVisualScenes(
tinyxml2::XMLElement *_libraryVisualScenesXml)
tinyxml2::XMLElement *_libraryVisualScenesXml,
const std::vector<math::Matrix4d> &_submeshToMatrix)
{
tinyxml2::XMLElement *visualSceneXml =
_libraryVisualScenesXml->GetDocument()->NewElement("visual_scene");
_libraryVisualScenesXml->LinkEndChild(visualSceneXml);
visualSceneXml->SetAttribute("name", "Scene");
visualSceneXml->SetAttribute("id", "Scene");

tinyxml2::XMLElement *nodeXml =
_libraryVisualScenesXml->GetDocument()->NewElement("node");
visualSceneXml->LinkEndChild(nodeXml);
nodeXml->SetAttribute("name", "node");
nodeXml->SetAttribute("id", "node");

for (unsigned int i = 0; i < this->subMeshCount; ++i)
{
char meshId[100], materialId[100], attributeValue[101];
char meshId[100], attributeValue[101], nodeId[106];

snprintf(meshId, sizeof(meshId), "mesh_%u", i);
snprintf(materialId, sizeof(materialId), "material_%u", i);
snprintf(nodeId, sizeof(nodeId), "node_%u", i);

tinyxml2::XMLElement *nodeXml =
_libraryVisualScenesXml->GetDocument()->NewElement("node");
visualSceneXml->LinkEndChild(nodeXml);

nodeXml->SetAttribute("name", nodeId);
nodeXml->SetAttribute("id", nodeId);

if (i < _submeshToMatrix.size())
{
std::ostringstream fillData;
fillData.precision(8);
fillData << std::fixed;

fillData << _submeshToMatrix.at(i);

tinyxml2::XMLElement *matrixXml =
_libraryVisualScenesXml->GetDocument()->NewElement("matrix");
nodeXml->LinkEndChild(matrixXml);
matrixXml->LinkEndChild(_libraryVisualScenesXml->GetDocument()->NewText(
fillData.str().c_str()));
}

tinyxml2::XMLElement *instanceGeometryXml =
_libraryVisualScenesXml->GetDocument()->NewElement("instance_geometry");
nodeXml->LinkEndChild(instanceGeometryXml);
snprintf(attributeValue, sizeof(attributeValue), "#%s", meshId);
instanceGeometryXml->SetAttribute("url", attributeValue);

unsigned int materialIndex =
this->mesh->SubMeshByIndex(i).lock()->MaterialIndex();

const ignition::common::MaterialPtr material =
this->mesh->MaterialByIndex(i);
this->mesh->MaterialByIndex(materialIndex);

if (material)
{
char materialId[100];

snprintf(materialId, sizeof(materialId), "material_%u", materialIndex);

tinyxml2::XMLElement *bindMaterialXml =
_libraryVisualScenesXml->GetDocument()->NewElement("bind_material");
instanceGeometryXml->LinkEndChild(bindMaterialXml);
Expand Down
122 changes: 120 additions & 2 deletions graphics/src/ColladaExporter_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -18,10 +18,11 @@
#include "tinyxml2.h"

#include "test_config.h"
#include "ignition/common/Mesh.hh"
#include "ignition/common/SubMesh.hh"
#include "ignition/common/ColladaLoader.hh"
#include "ignition/common/ColladaExporter.hh"
#include "ignition/common/Filesystem.hh"
#include "ignition/common/Mesh.hh"
#include "ignition/common/SubMesh.hh"
#include "test/util.hh"

#ifdef _WIN32
Expand Down Expand Up @@ -193,6 +194,123 @@ TEST_F(ColladaExporter, ExportCordlessDrill)
common::removeAll(pathOut + "/tmp");
}

/////////////////////////////////////////////////
TEST_F(ColladaExporter, ExportMeshWithSubmeshes)
{
std::string boxFilenameIn = std::string(PROJECT_SOURCE_PATH) +
"/test/data/box.dae";
Comment on lines +200 to +201
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Suggested change
std::string boxFilenameIn = std::string(PROJECT_SOURCE_PATH) +
"/test/data/box.dae";
std::string boxFilenameIn = common::joinPaths(PROJECT_SOURCE_PATH,
"/test/data/box.dae");

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Still needed.

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@chapulina chapulina Dec 3, 2020 •
edited
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It looks like this went through unresolved partially resolved. The string needs to be separated on all / for Windows.

I also noticed this test failing on CI:

  [ RUN      ] ColladaExporter.ExportCordlessDrill
  unknown file: Failure
  C++ exception with description "basic_string::_M_construct null not valid" thrown in the test body.
  [  FAILED  ] ColladaExporter.ExportCordlessDrill (3 ms)
  [ RUN      ] ColladaExporter.ExportMeshWithSubmeshes
  unknown file: Failure
  C++ exception with description "basic_string::_M_construct null not valid" thrown in the test body.
  [  FAILED  ] ColladaExporter.ExportMeshWithSubmeshes (3 ms)

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Not sure why this didn't fail in the action here?

Fix here: #133


common::ColladaLoader loader;
const common::Mesh *boxMesh = loader.Load(
boxFilenameIn);

const common::Mesh *drillMesh = loader.Load(
common::joinPaths(PROJECT_SOURCE_PATH,
"/test/data/cordless_drill/meshes/cordless_drill.dae"));

common::Mesh outMesh;
std::weak_ptr<common::SubMesh> subm;
std::vector<math::Matrix4d> subMeshMatrix;
math::Pose3d localPose = math::Pose3d::Zero;

int i = outMesh.AddMaterial(
boxMesh->MaterialByIndex(
boxMesh->SubMeshByIndex(0).lock()->MaterialIndex()));
subm = outMesh.AddSubMesh(*boxMesh->SubMeshByIndex(0).lock().get());
subm.lock()->SetMaterialIndex(i);

localPose.SetX(10);
math::Matrix4d matrix(localPose);
subMeshMatrix.push_back(matrix);

i = outMesh.AddMaterial(
drillMesh->MaterialByIndex(
drillMesh->SubMeshByIndex(0).lock()->MaterialIndex()));
subm = outMesh.AddSubMesh(*drillMesh->SubMeshByIndex(0).lock().get());
subm.lock()->SetMaterialIndex(i);

localPose.SetX(-10);
matrix = math::Matrix4d(localPose);
subMeshMatrix.push_back(matrix);

std::string pathOut = common::joinPaths(common::cwd(), "tmp");
common::createDirectories(pathOut);

common::ColladaExporter exporter;
exporter.Export(&outMesh,
common::joinPaths(pathOut, "mesh_with_submeshes"), true, subMeshMatrix);

// Check .dae file
tinyxml2::XMLDocument xmlDoc;
std::string filename = common::joinPaths(pathOut,
"mesh_with_submeshes/meshes/mesh_with_submeshes.dae");

EXPECT_EQ(xmlDoc.LoadFile(filename.c_str()), tinyxml2::XML_SUCCESS);

ASSERT_TRUE(xmlDoc.FirstChildElement("COLLADA") != nullptr);
ASSERT_TRUE(xmlDoc.FirstChildElement(
"COLLADA")->FirstChildElement("library_geometries") != nullptr);

tinyxml2::XMLElement *geometryXml = xmlDoc.FirstChildElement("COLLADA")
->FirstChildElement("library_geometries")
->FirstChildElement("geometry");
ASSERT_TRUE(geometryXml != nullptr);

for (unsigned int j = 0; j < outMesh.SubMeshCount(); ++j)
{
unsigned int countMeshInt =
outMesh.SubMeshByIndex(j).lock()->VertexCount()*3;
char countMesh[100];
snprintf(countMesh, sizeof(countMesh), "%u", countMeshInt);

const char *countDae = geometryXml
->FirstChildElement("mesh")
->FirstChildElement("source")
->FirstChildElement("float_array")
->Attribute("count");

EXPECT_STREQ(countDae, countMesh);

geometryXml = geometryXml->NextSiblingElement("geometry");
}

tinyxml2::XMLElement *nodeXml = xmlDoc.FirstChildElement("COLLADA")
->FirstChildElement("library_visual_scenes")
->FirstChildElement("visual_scene")
->FirstChildElement("node");
ASSERT_TRUE(nodeXml != nullptr);

for (unsigned int j = 0; j < outMesh.SubMeshCount(); ++j)
{
std::ostringstream fillData;
fillData.precision(8);
fillData << std::fixed;
fillData << subMeshMatrix.at(j);

std::string matrixStr = nodeXml->FirstChildElement("matrix")->GetText();
EXPECT_EQ(matrixStr, fillData.str());

nodeXml = nodeXml->NextSiblingElement("node");
}

// Reload mesh and compare
const common::Mesh *meshReloaded = loader.Load(common::joinPaths(pathOut,
"mesh_with_submeshes/meshes/mesh_with_submeshes.dae"));

EXPECT_EQ(outMesh.Name(), meshReloaded->Name());
EXPECT_EQ(outMesh.SubMeshCount(), meshReloaded->SubMeshCount());
EXPECT_EQ(outMesh.MaterialCount(),
meshReloaded->MaterialCount());
EXPECT_EQ(outMesh.IndexCount(), meshReloaded->IndexCount());
EXPECT_EQ(outMesh.VertexCount(), meshReloaded->VertexCount());
EXPECT_EQ(outMesh.NormalCount(), meshReloaded->NormalCount());
EXPECT_EQ(outMesh.TexCoordCount(),
meshReloaded->TexCoordCount());

// Remove temp directory
common::removeAll(pathOut);
}

/////////////////////////////////////////////////
int main(int argc, char **argv)
{
Expand Down