From 16c764b12425f851062592811825290ae0c3cab2 Mon Sep 17 00:00:00 2001 From: ddengster Date: Tue, 22 Jun 2021 14:42:07 +0800 Subject: [PATCH 1/6] fix conditional, extract common code Signed-off-by: ddengster --- .../collada_world_exporter/ColladaWorldExporter.cc | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc index 69e86077cc..454d3b56ea 100644 --- a/src/systems/collada_world_exporter/ColladaWorldExporter.cc +++ b/src/systems/collada_world_exporter/ColladaWorldExporter.cc @@ -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 From fab0eb9fce8ed4f20f3bbeadde5768733c075e40 Mon Sep 17 00:00:00 2001 From: ddengster Date: Tue, 22 Jun 2021 14:43:59 +0800 Subject: [PATCH 2/6] add test for worlds that import obj models, checks for textures Signed-off-by: ddengster --- test/integration/collada_world_exporter.cc | 34 + .../building_L1/meshes/blue_linoleum.png | Bin 0 -> 177911 bytes .../models/building_L1/meshes/default.png | Bin 0 -> 8458 bytes .../models/building_L1/meshes/floor_1.mtl | 10 + .../models/building_L1/meshes/floor_1.obj | 93 ++ .../models/building_L1/meshes/model.material | 26 + .../models/building_L1/meshes/wall_1.mtl | 10 + .../models/building_L1/meshes/wall_1.obj | 937 ++++++++++++++++++ test/worlds/models/building_L1/model.config | 11 + test/worlds/models/building_L1/model.sdf | 76 ++ test/worlds/office.sdf | 137 +++ 11 files changed, 1334 insertions(+) create mode 100644 test/worlds/models/building_L1/meshes/blue_linoleum.png create mode 100644 test/worlds/models/building_L1/meshes/default.png create mode 100644 test/worlds/models/building_L1/meshes/floor_1.mtl create mode 100644 test/worlds/models/building_L1/meshes/floor_1.obj create mode 100644 test/worlds/models/building_L1/meshes/model.material create mode 100644 test/worlds/models/building_L1/meshes/wall_1.mtl create mode 100644 test/worlds/models/building_L1/meshes/wall_1.obj create mode 100644 test/worlds/models/building_L1/model.config create mode 100644 test/worlds/models/building_L1/model.sdf create mode 100644 test/worlds/office.sdf diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc index bfb54b600c..147f9abc0e 100644 --- a/test/integration/collada_world_exporter.cc +++ b/test/integration/collada_world_exporter.cc @@ -110,6 +110,40 @@ TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh) common::removeAll(outputPath); } +TEST_F(ColladaWorldExporterFixture, ExportWorldMadeFromObj) +{ + ignition::common::setenv("IGN_GAZEBO_RESOURCE_PATH", + (std::string(PROJECT_SOURCE_PATH) + "/test/worlds:" + + std::string(PROJECT_SOURCE_PATH) + "/test/worlds/models").c_str()); + + this->LoadWorld(common::joinPaths("test", "worlds", + "office.sdf")); + + const std::string outputPath = "./office_world"; + const std::string outputPathTextures = "./office_world/materials/textures"; + const std::string outputPathTexture1 = "./office_world/materials/textures/default.png"; + const std::string outputPathTexture2 = "./office_world/materials/textures/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) diff --git a/test/worlds/models/building_L1/meshes/blue_linoleum.png b/test/worlds/models/building_L1/meshes/blue_linoleum.png new file mode 100644 index 0000000000000000000000000000000000000000..1224d8d25b9376fa45906a744c19680b3cf92825 GIT binary patch literal 177911 zcmeFZRd^k}vMp++n3-c{o@Qo_nHi^0w+I0S_fO`7FIMw6i||&{ za#b<*AaQhd09x6alel_0nvepJlEagr;vtO;KVO$P2_MPk5m;fM^t!MZ*UI8 z*W|X0apUHM`Ff9S3yMRs5nYhfDbUfIzdJGDo`f0z+?>8$oSsAxEU@9*Ct4`iz5(ky z6)*rqoo5Pb3a}VHR@mzFzvG^|5UTP0CoY-&MHCotBK~AtgMlHySp991);D=xQwKXH zV>1U6b0$wa$G>d_1LGI+bTl@#F?S^~F}JX?7a+Ur>LVkuG7})v2a^YY z$-&uznU#l!hna9MT{{j3j ziK4TW`CktH>8$`6D;e`YOfvsBm48Qu`Tq>fKm7cEpZ;@^e~aV)(Dfg>{w)UnE#?2r 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--- /dev/null +++ b/test/worlds/models/building_L1/meshes/floor_1.obj @@ -0,0 +1,93 @@ +# The Great Editor v0.0.1 +mtllib floor_1.mtl +o floor_1 +v 6.53267851016078 -1.1435613801846989 0 +v 6.53267851016078 -1.1435613801846989 -0.1 +v 8.487429009296054 -1.9423062216146643 0 +v 8.487429009296054 -1.9423062216146643 -0.1 +v 10.123115005198834 -2.370169265455913 0 +v 10.123115005198834 -2.370169265455913 -0.1 +v 11.8122859979555 -2.608608395146717 0 +v 11.8122859979555 -2.608608395146717 -0.1 +v 12.184437619781013 -2.599694229004403 0 +v 12.184437619781013 -2.599694229004403 -0.1 +v 14.079464052312275 -2.5592799562946147 0 +v 14.079464052312275 -2.5592799562946147 -0.1 +v 23.683364858074697 -2.8822216561967937 0 +v 23.683364858074697 -2.8822216561967937 -0.1 +v 23.1498185757523 -6.032037606561247 0 +v 23.1498185757523 -6.032037606561247 -0.1 +v 22.780071154481785 -8.681068739912664 0 +v 22.780071154481785 -8.681068739912664 -0.1 +v 22.494580804070203 -11.2739313145231 0 +v 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-2.5592799562946147 0 +vt 23.683364858074697 -2.8822216561967937 0 +vt 23.1498185757523 -6.032037606561247 0 +vt 22.780071154481785 -8.681068739912664 0 +vt 22.494580804070203 -11.2739313145231 0 +vt 19.461766458884213 -11.540704455684297 0 +vt 13.709716631041763 -12.004054854196562 0 +vt 10.789239403337737 -11.952567714141905 0 +vt 7.887470919389182 -11.50794299037494 0 +vt 5.552678957170429 -10.839312805742093 0 +vt 5.0034207162914015 -10.693384604449395 0 +vt 2.277641406067981 -9.52562037431135 0 +vt 5.189085950700927 -3.7721398778287742 0 +vn 0 0 1 +vn 0 0 -1 +usemtl floor_1 +s off +f 31/16/1 35/18/1 33/17/1 +f 34/17/2 36/18/2 32/16/2 +f 31/16/1 29/15/1 35/18/1 +f 36/18/2 30/15/2 32/16/2 +f 29/15/1 27/14/1 35/18/1 +f 36/18/2 28/14/2 30/15/2 +f 27/14/1 5/3/1 35/18/1 +f 36/18/2 6/3/2 28/14/2 +f 5/3/1 3/2/1 35/18/1 +f 36/18/2 4/2/2 6/3/2 +f 3/2/1 1/1/1 35/18/1 +f 36/18/2 2/1/2 4/2/2 +f 11/6/1 15/8/1 13/7/1 +f 14/7/2 16/8/2 12/6/2 +f 21/11/1 11/6/1 23/12/1 +f 24/12/2 12/6/2 22/11/2 +f 11/6/1 9/5/1 23/12/1 +f 24/12/2 10/5/2 12/6/2 +f 9/5/1 25/13/1 23/12/1 +f 24/12/2 26/13/2 10/5/2 +f 9/5/1 7/4/1 25/13/1 +f 26/13/2 8/4/2 10/5/2 +f 7/4/1 5/3/1 25/13/1 +f 26/13/2 6/3/2 8/4/2 +f 5/3/1 27/14/1 25/13/1 +f 26/13/2 28/14/2 6/3/2 +f 21/11/1 15/8/1 11/6/1 +f 12/6/2 16/8/2 22/11/2 +f 21/11/1 17/9/1 15/8/1 +f 16/8/2 18/9/2 22/11/2 +f 17/9/1 21/11/1 19/10/1 +f 20/10/2 22/11/2 18/9/2 diff --git a/test/worlds/models/building_L1/meshes/model.material b/test/worlds/models/building_L1/meshes/model.material new file mode 100644 index 0000000000..672f8c8a0f --- /dev/null +++ b/test/worlds/models/building_L1/meshes/model.material @@ -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 + } + } + } +} diff --git a/test/worlds/models/building_L1/meshes/wall_1.mtl b/test/worlds/models/building_L1/meshes/wall_1.mtl new file mode 100644 index 0000000000..631cf2261c --- /dev/null +++ b/test/worlds/models/building_L1/meshes/wall_1.mtl @@ -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 diff --git a/test/worlds/models/building_L1/meshes/wall_1.obj b/test/worlds/models/building_L1/meshes/wall_1.obj new file mode 100644 index 0000000000..47ffc1482f --- /dev/null +++ b/test/worlds/models/building_L1/meshes/wall_1.obj @@ -0,0 +1,937 @@ +# The Great Editor v0.0.1 +mtllib wall_1.mtl +o walls +v 10.5293 -4.6624 0.000 +v 10.5293 -4.6624 2.5000 +v 15.5393 -4.5841 0.000 +v 15.5393 -4.5841 2.5000 +v 15.5409 -4.6841 0.000 +v 15.5409 -4.6841 2.5000 +v 10.5308 -4.7624 0.000 +v 10.5308 -4.7624 2.5000 +v 15.5394 -4.5842 0.000 +v 15.5394 -4.5842 2.5000 +v 15.5623 -6.1980 0.000 +v 15.5623 -6.1980 2.5000 +v 15.4624 -6.1994 0.000 +v 15.4624 -6.1994 2.5000 +v 15.4394 -4.5856 0.000 +v 15.4394 -4.5856 2.5000 +v 15.4610 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