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Added capsule mesh #155

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merged 8 commits into from
Jan 22, 2021
Merged

Added capsule mesh #155

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26c6f65
Added capsule mesh
ahcorde Jan 21, 2021
7ad6e51
Added capsule test
ahcorde Jan 21, 2021
ad24eab
removed code
ahcorde Jan 21, 2021
97707fe
fixed capsule test variable names
ahcorde Jan 21, 2021
ea3c3ab
Added feedback
ahcorde Jan 21, 2021
f6f7228
Fixed style
ahcorde Jan 22, 2021
b4792a3
make windows happy
ahcorde Jan 22, 2021
1509754
Merge branch 'ign-common3' into ahcorde/mesh/capsule
ahcorde Jan 22, 2021
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12 changes: 12 additions & 0 deletions graphics/include/ignition/common/MeshManager.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -154,6 +154,18 @@ namespace ignition
const int _rings,
const int _segments);

/// \brief Create a capsule mesh
/// \param[in] _name the name of the new mesh
/// \param[in] _radius the radius of the capsule in the x y plane
/// \param[in] _length length of the body
/// \param[in] _rings the number of circles along the height
/// \param[in] _segments the number of segment per circle
public: void CreateCapsule(const std::string &_name,
const double radius,
const double length,
const unsigned int _rings,
const unsigned int _segments);

/// \brief Create a cone mesh
/// \param[in] _name the name of the new mesh
/// \param[in] _radius the radius of the cylinder in the x y plane
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151 changes: 151 additions & 0 deletions graphics/src/MeshManager.cc
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Expand Up @@ -822,6 +822,157 @@ void MeshManager::CreateCamera(const std::string &_name, float _scale)
mesh->RecalculateNormals();
}

void MeshManager::CreateCapsule(const std::string &_name,
const double _radius,
const double _length,
const unsigned int _rings,
const unsigned int _segments)
{
if (this->HasMesh(_name))
{
return;
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}

Mesh *mesh = new Mesh();
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mesh->SetName(_name);
this->dataPtr->meshes.insert(std::make_pair(_name, mesh));

SubMesh subMesh;

// Based on https://github.com/godotengine/godot primitive_meshes.cpp
int prevRow, thisRow, point;
double x, y, z, u, v, w;
const double oneThird = 1.0 / 3.0;
const double twoThirds = 2.0 / 3.0;

point = 0;

/* top hemisphere */
thisRow = 0;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
v = j;

v /= (_rings + 1);
w = sin(0.5 * IGN_PI * v);
y = _radius * cos(0.5 * IGN_PI * v);

for (unsigned int i = 0; i <= _segments; i++) {
u = i;
u /= _segments;

x = -sin(u * (IGN_PI * 2.0));
z = cos(u * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius * w, y, -z * _radius * w);
// Compute vertex
subMesh.AddVertex(ignition::math::Vector3d(
p + ignition::math::Vector3d(0.0, 0.5 * _length, 0.0)));
subMesh.AddTexCoord({u, v * oneThird});
subMesh.AddNormal(p.Normalize());

point++;

if (i > 0 && j > 0) {
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);

subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(thisRow + i);
subMesh.AddIndex(prevRow + i);
}
}
prevRow = thisRow;
thisRow = point;
}

/* cylinder */
thisRow = point;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
v = j;
v /= (_rings + 1);

y = _length * v;
y = (_length * 0.5) - y;

for (unsigned int i = 0; i <= _segments; i++) {
u = i;
u /= _segments;

x = -sin(u * (IGN_PI * 2.0));
z = cos(u * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius, y, -z * _radius);

// Compute vertex
subMesh.AddVertex(p);
subMesh.AddTexCoord({u, oneThird + (v * oneThird)});
subMesh.AddNormal(ignition::math::Vector3d(x, 0.0, -z));
point++;

if (i > 0 && j > 0) {
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);

subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(thisRow + i);
subMesh.AddIndex(prevRow + i);
}
}
prevRow = thisRow;
thisRow = point;
}

/* bottom hemisphere */
thisRow = point;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
v = j;

v /= (_rings + 1);
v += 1.0;
w = sin(0.5 * IGN_PI * v);
y = _radius * cos(0.5 * IGN_PI * v);

for (unsigned int i = 0; i <= _segments; i++) {
float u2 = i;
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u2 /= _segments;

x = -sin(u2 * (IGN_PI * 2.0));
z = cos(u2 * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius * w, y, -z * _radius * w);
// Compute vertex
subMesh.AddVertex(ignition::math::Vector3d(
p + ignition::math::Vector3d(0.0, -0.5 * _length, 0.0)));
subMesh.AddTexCoord({u2, twoThirds + ((v - 1.0) * oneThird)});
subMesh.AddNormal(p.Normalize());
point++;

if (i > 0 && j > 0) {
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);

subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(thisRow + i);
subMesh.AddIndex(prevRow + i);
}
}

prevRow = thisRow;
thisRow = point;
}

mesh->AddSubMesh(subMesh);
}

//////////////////////////////////////////////////
void MeshManager::CreateCylinder(const std::string &name, float radius,
float height, int rings, int segments)
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27 changes: 27 additions & 0 deletions graphics/src/SubMesh_TEST.cc
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Expand Up @@ -389,6 +389,33 @@ TEST_F(SubMeshTest, Volume)
1e-2);
}

// Capsule mesh tests
{
common::MeshManager::Instance()->CreateCapsule("capsule",
1, 1, 10, 10);

const common::Mesh *unitCapsule =
common::MeshManager::Instance()->MeshByName("capsule");
ASSERT_TRUE(unitCapsule != nullptr);

// Checking that we can not add or modify a new mesh with the same name
common::MeshManager::Instance()->CreateCapsule("capsule",
1, 1, 100, 100);
const common::Mesh *unitCapsule2 =
common::MeshManager::Instance()->MeshByName("capsule");

// the new mesh should have more vertex, but it should be introduced in the
// meshmanager. It should be the same number becuase it was not modified.
EXPECT_EQ(unitCapsule->VertexCount(), unitCapsule2->VertexCount());

common::MeshManager::Instance()->CreateCapsule("other_capsule",
1.5, 7.5, 10, 10);

const common::Mesh *otherCapsule =
common::MeshManager::Instance()->MeshByName("other_capsule");
ASSERT_TRUE(otherCapsule != nullptr);
}

// Cylinder mesh tests
{
common::MeshManager::Instance()->CreateCylinder("unit_cylinder",
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