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Fix textures not exporting after loading a world that uses obj models (…
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…#874)

* fix conditional, extract common code

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

* add test for worlds that import obj models, checks for textures

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

* cpplint

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

* cpplint #2

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

Update test/integration/collada_world_exporter.cc

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>

* fix path concatencation

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

* cpplint #3

Signed-off-by: ddengster <ed.fan@osrfoundation.org>

Co-authored-by: Alejandro Hernández Cordero <ahcorde@gmail.com>
Co-authored-by: Louise Poubel <louise@openrobotics.org>
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@ddengster @ahcorde @chapulina
3 people authored Jul 2, 2021
1 parent 7cf129e commit 9fa9e36
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Showing 12 changed files with 1,346 additions and 7 deletions.
9 changes: 4 additions & 5 deletions src/systems/collada_world_exporter/ColladaWorldExporter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -117,12 +117,11 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
int newMatIndex = 0;
if (_matIndex != -1)
{
newMatIndex = worldMesh.IndexOfMaterial(
mesh->MaterialByIndex(_matIndex).get());
if (_matIndex < 0)
auto m = mesh->MaterialByIndex(_matIndex);
newMatIndex = worldMesh.IndexOfMaterial(m.get());
if (newMatIndex < 0)
{
newMatIndex = worldMesh.AddMaterial(
mesh->MaterialByIndex(_matIndex));
newMatIndex = worldMesh.AddMaterial(m);
}
}
else
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44 changes: 42 additions & 2 deletions test/integration/collada_world_exporter.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -77,9 +77,11 @@ TEST_F(ColladaWorldExporterFixture, ExportWorld)

TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh)
{
std::string world_path =
ignition::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds");
ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
(std::string(PROJECT_SOURCE_PATH) + "/test/worlds:" +
std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models").c_str());
(world_path + ":" +
ignition::common::joinPaths(world_path, "models")).c_str());

this->LoadWorld(common::joinPaths("test", "worlds",
"collada_world_exporter_submesh.sdf"));
Expand Down Expand Up @@ -110,6 +112,44 @@ TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh)
common::removeAll(outputPath);
}

TEST_F(ColladaWorldExporterFixture, ExportWorldMadeFromObj)
{
std::string world_path =
ignition::common::joinPaths(PROJECT_SOURCE_PATH, "test", "worlds");
ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH",
(world_path + ":" +
ignition::common::joinPaths(world_path, "models")).c_str());

this->LoadWorld(common::joinPaths("test", "worlds",
"office.sdf"));

const std::string outputPath = "./office_world";
const std::string outputPathTextures =
common::joinPaths(outputPath, "materials", "textures");
const std::string outputPathTexture1 =
common::joinPaths(outputPathTextures, "default.png");
const std::string outputPathTexture2 =
common::joinPaths(outputPathTextures, "blue_linoleum.png");

// Cleanup
common::removeAll(outputPath);

// The export directory shouldn't exist.
EXPECT_FALSE(common::exists(outputPath));

// Run one iteration which should export the world.
server->Run(true, 1, false);

// The export directory and corresponding textures should now exist.
EXPECT_TRUE(common::exists(outputPath));
EXPECT_TRUE(common::exists(outputPathTextures));
EXPECT_TRUE(common::exists(outputPathTexture1));
EXPECT_TRUE(common::exists(outputPathTexture2));

// Cleanup
common::removeAll(outputPath);
}

/////////////////////////////////////////////////
/// Main
int main(int _argc, char **_argv)
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Binary file added test/worlds/models/building_L1/meshes/blue_linoleum.png
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Binary file added test/worlds/models/building_L1/meshes/default.png
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10 changes: 10 additions & 0 deletions test/worlds/models/building_L1/meshes/floor_1.mtl
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@@ -0,0 +1,10 @@
# The Great Editor v0.0.1
newmtl floor_1
Ka 1.0 1.0 1.0
Kd 1.0 1.0 1.0
Ke 0.0 0.0 0.0
Ns 50.0
Ni 1.0
d 1.0
illum 2
map_Kd blue_linoleum.png
93 changes: 93 additions & 0 deletions test/worlds/models/building_L1/meshes/floor_1.obj
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# The Great Editor v0.0.1
mtllib floor_1.mtl
o floor_1
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usemtl floor_1
s off
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26 changes: 26 additions & 0 deletions test/worlds/models/building_L1/meshes/model.material
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@@ -0,0 +1,26 @@
material floor_1_Diffuse
{
technique
{
pass
{
texture_unit
{
texture blue_linoleum.png
}
}
}
}
material wall_1_Diffuse
{
technique
{
pass
{
texture_unit
{
texture default.png
}
}
}
}
10 changes: 10 additions & 0 deletions test/worlds/models/building_L1/meshes/wall_1.mtl
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@@ -0,0 +1,10 @@
# The Great Editor v0.0.1
newmtl wall_1
Ka 1.0 1.0 1.0
Kd 1.0 1.0 1.0
Ke 0.0 0.0 0.0
Ns 50.0
Ni 1.0
d 1.0
illum 2
map_Kd default.png
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