Sky dds

[nkoenig]

Adds support for reading cubemaps that are encoded as .dds files. This should support .dds files coming from Fuel, or from a local source.

Testing using Fuel

<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.9">
  <world name="test">
    <scene>
      <sky>
<cubemap_uri>https://fuel.gazebosim.org/1.0/openrobotics/models/skybox/tip/files/materials/textures/skybox_grey.dds</cubemap_uri>
      </sky>
    </scene>
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>

Testing using local file

<?xml version='1.0' encoding='utf-8'?>
<sdf version="1.9">
  <world name="test">
    <scene>
      <sky>
        <cubemap_uri>PATH_TO_LOCAL_DDS_FILE</cubemap_uri>
      </sky>
    </scene>
    <model name="ground_plane">
      <static>true</static>
      <link name="link">
        <collision name="collision">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
        </collision>
        <visual name="visual">
          <geometry>
            <plane>
              <normal>0 0 1</normal>
              <size>100 100</size>
            </plane>
          </geometry>
          <material>
            <ambient>0.8 0.8 0.8 1</ambient>
            <diffuse>0.8 0.8 0.8 1</diffuse>
            <specular>0.8 0.8 0.8 1</specular>
          </material>
        </visual>
      </link>
    </model>
  </world>
</sdf>

[german-e-mas]

Just in case, I'm running the first test that uses the Fuel skybox, and I don't get a cubemap_uri. Could I be missing something?

I'm running ign gazebo -r -s test.sdf -v 4 and the websocket server.

This is the sky I get from the scene info topic.

[nkoenig]

Just in case, I'm running the first test that uses the Fuel skybox, and I don't get a cubemap_uri. Could I be missing something?

I'm running ign gazebo -r -s test.sdf -v 4 and the websocket server.

This is the sky I get from the scene info topic.

Do you have the lastest gz-sim code? You need the modifications from this PR: gazebosim/gz-sim#1739.

[german-e-mas]

Do you have the lastest gz-sim code? You need the modifications from this PR: gazebosim/gz-sim#1739.

Thanks. I wasn't aware this required a gz-sim change. I'll get back to you.

[german-e-mas]

Looks good. I tested it using Fuel's skyboxes and works as intended.

We need to cover the case where the skybox could come from the websocket, and have it taken into account by the websocket loading manager. This can be a follow up task though, as the skyboxes used are Fuel's.

Let me know what do you think @nkoenig

[german-e-mas]

nit: const over let

Suggested change

	let ddsLoader = new DDSLoader();
	const ddsLoader = new DDSLoader();

[german-e-mas]

Since we do check onError if the asset came from the websocket, pass the websocket loading manager into it.

You can check on other loaders how it was used.

[nkoenig]

I think I did it in eab4493

[german-e-mas]

Looks like it! Thanks! I'll test these changes and then re-approve it.

[german-e-mas]

We can go ahead with this implementation, as we won't load dds files via websocket. LGTM.

Can you solve the conflicts @nkoenig ? If you bump the version in this PR, we can publish it.

Testing new changes

[nkoenig]

@german-e-mas , let me know if you are okay with the changes.

[german-e-mas]

LGTM!