Fix textures not exporting after loading a world that uses obj models

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

test/integration/collada_world_exporter.cc

@@ -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"));
@@ -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)

test/worlds/models/building_L1/meshes/floor_1.mtl

@@ -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

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 22.494580804070203 -11.2739313145231 -0.1
+v 19.461766458884213 -11.540704455684297 0
+v 19.461766458884213 -11.540704455684297 -0.1
+v 13.709716631041763 -12.004054854196562 0
+v 13.709716631041763 -12.004054854196562 -0.1
+v 10.789239403337737 -11.952567714141905 0
+v 10.789239403337737 -11.952567714141905 -0.1
+v 7.887470919389182 -11.50794299037494 0
+v 7.887470919389182 -11.50794299037494 -0.1
+v 5.552678957170429 -10.839312805742093 0
+v 5.552678957170429 -10.839312805742093 -0.1
+v 5.0034207162914015 -10.693384604449395 0
+v 5.0034207162914015 -10.693384604449395 -0.1
+v 2.277641406067981 -9.52562037431135 0
+v 2.277641406067981 -9.52562037431135 -0.1
+v 5.189085950700927 -3.7721398778287742 0
+v 5.189085950700927 -3.7721398778287742 -0.1
+vt 6.53267851016078 -1.1435613801846989 0
+vt 8.487429009296054 -1.9423062216146643 0
+vt 10.123115005198834 -2.370169265455913 0
+vt 11.8122859979555 -2.608608395146717 0
+vt 12.184437619781013 -2.599694229004403 0
+vt 14.079464052312275 -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

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
+			}
+		}
+	}
+}

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