Backport #763

Signed-off-by: Nate Koenig <[email protected]>
gazebosim · May 5, 2021 · 281af4f · 281af4f
1 parent d3738cb
commit 281af4f
Show file tree

Hide file tree

Showing 7 changed files with 274 additions and 9 deletions.
diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc
@@ -112,9 +112,9 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
       ignition::common::MeshManager *meshManager =
           ignition::common::MeshManager::Instance();
 
-      auto addSubmeshFunc = [&](int i) {
+      auto addSubmeshFunc = [&](int i, int k) {
           subm = worldMesh.AddSubMesh(
-              *mesh->SubMeshByIndex(0).lock().get());
+              *mesh->SubMeshByIndex(k).lock().get());
           subm.lock()->SetMaterialIndex(i);
           subm.lock()->Scale(scale);
           subMeshMatrix.push_back(matrix);
@@ -128,7 +128,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
           scale = _geom->Data().BoxShape()->Size();
           int i = worldMesh.AddMaterial(mat);
 
-          addSubmeshFunc(i);
+          addSubmeshFunc(i, 0);
         }
       }
       else if (_geom->Data().Type() == sdf::GeometryType::CYLINDER)
@@ -142,7 +142,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
 
           int i = worldMesh.AddMaterial(mat);
 
-          addSubmeshFunc(i);
+          addSubmeshFunc(i, 0);
         }
       }
       else if (_geom->Data().Type() == sdf::GeometryType::PLANE)
@@ -166,7 +166,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
           matrix = math::Matrix4d(worldPose);
 
           int i = worldMesh.AddMaterial(mat);
-          addSubmeshFunc(i);
+          addSubmeshFunc(i, 0);
         }
       }
       else if (_geom->Data().Type() == sdf::GeometryType::SPHERE)
@@ -180,8 +180,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
           scale.Z() = scale.X();
 
           int i = worldMesh.AddMaterial(mat);
-
-          addSubmeshFunc(i);
+          addSubmeshFunc(i, 0);
         }
       }
       else if (_geom->Data().Type() == sdf::GeometryType::MESH)
@@ -221,8 +220,7 @@ class ignition::gazebo::systems::ColladaWorldExporterPrivate
           }
 
           scale = _geom->Data().MeshShape()->Scale();
-
-          addSubmeshFunc(i);
+          addSubmeshFunc(i, k);
         }
       }
       else

diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc
@@ -72,6 +72,33 @@ TEST_F(ColladaWorldExporterFixture, ExportWorld)
   common::removeAll("./collada_world_exporter_box_test");
 }
 
+TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh)
+{
+  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",
+        "collada_world_exporter_submesh.sdf"));
+
+  const std::string outputPath = "./collada_world_exporter_submesh_test";
+
+  // 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 should now exist.
+  EXPECT_TRUE(common::exists(outputPath));
+
+  // Cleanup
+  common::removeAll(outputPath);
+}
+
 /////////////////////////////////////////////////
 /// Main
 int main(int _argc, char **_argv)

diff --git a/test/worlds/collada_world_exporter_submesh.sdf b/test/worlds/collada_world_exporter_submesh.sdf
@@ -0,0 +1,24 @@
+<?xml version="1.0" ?>
+<!--
+  Test world downloading two tile files
+-->
+<sdf version="1.6">
+  <world name="collada_world_exporter_submesh_test">
+    <plugin
+      filename="libignition-gazebo-physics-system.so"
+      name="ignition::gazebo::systems::Physics">
+    </plugin>
+
+    <plugin
+      filename="ignition-gazebo-collada-world-exporter-system"
+      name="ignition::gazebo::systems::ColladaWorldExporter">
+    </plugin>
+
+    <include>
+      <static>true</static>
+      <pose>22 111 -10 0 -0 0</pose>
+      <uri>model://mesh_with_submeshes</uri>
+    </include>
+
+  </world>
+</sdf>
diff --git a/test/worlds/models/mesh_with_submeshes/materials/textures/cordless_drill.png b/test/worlds/models/mesh_with_submeshes/materials/textures/cordless_drill.png
diff --git a/test/worlds/models/mesh_with_submeshes/meshes/mesh_with_submeshes.dae b/test/worlds/models/mesh_with_submeshes/meshes/mesh_with_submeshes.dae
diff --git a/test/worlds/models/mesh_with_submeshes/model.config b/test/worlds/models/mesh_with_submeshes/model.config
@@ -0,0 +1,7 @@
+<?xml version="1.0" ?>
+<model>
+    <name>mesh_with_submeshes</name>
+    <version>1.0</version>
+    <sdf version="1.6">model.sdf</sdf>
+</model>
+
diff --git a/test/worlds/models/mesh_with_submeshes/model.sdf b/test/worlds/models/mesh_with_submeshes/model.sdf
@@ -0,0 +1,23 @@
+<?xml version='1.0'?>
+<sdf version='1.6'>
+  <model name='scheme_resource_uri'>
+    <pose>0 0 1 0 0 0</pose>
+    <link name='the_link'>
+      <visual name='the_visual'>
+        <geometry>
+          <mesh>
+            <uri>model://mesh_with_submeshes/meshes/mesh_with_submeshes.dae</uri>
+          </mesh>
+        </geometry>
+      </visual>
+      <collision name='the_collision'>
+        <geometry>
+          <mesh>
+            <uri>model://mesh_with_submeshes/meshes/mesh_with_submeshes.dae</uri>
+          </mesh>
+        </geometry>
+      </collision>
+    </link>
+  </model>
+</sdf>
+