From 60bbb123b7df711a47947868d99133df2e820334 Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Tue, 13 Apr 2021 15:47:40 -0500 Subject: [PATCH 1/5] Fix submesh index Signed-off-by: Jorge Perez --- .../ColladaWorldExporter.cc | 16 +++++++--------- 1 file changed, 7 insertions(+), 9 deletions(-) diff --git a/src/systems/collada_world_exporter/ColladaWorldExporter.cc b/src/systems/collada_world_exporter/ColladaWorldExporter.cc index 0ab619f899..b8bf9faef1 100644 --- 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 From 0c074d890f2b6d5a52f07ad6ec4d53f4521ce40f Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Mon, 19 Apr 2021 12:30:47 -0500 Subject: [PATCH 2/5] Add colladaExporter test for submesh case Signed-off-by: Jorge Perez --- test/integration/collada_world_exporter.cc | 21 +++++++++ .../worlds/collada_world_exporter_submesh.sdf | 46 +++++++++++++++++++ 2 files changed, 67 insertions(+) create mode 100644 test/worlds/collada_world_exporter_submesh.sdf diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc index ae677413c0..09bae1e180 100644 --- a/test/integration/collada_world_exporter.cc +++ b/test/integration/collada_world_exporter.cc @@ -72,6 +72,27 @@ TEST_F(ColladaWorldExporterFixture, ExportWorld) common::removeAll("./collada_world_exporter_box_test"); } +TEST_F(ColladaWorldExporterFixture, ExportWorldFromFuelWithSubmesh) +{ + this->LoadWorld(common::joinPaths("test", "worlds", + "collada_world_exporter_submesh.sdf")); + + // Cleanup + common::removeAll("./collada_world_exporter_tiles_test"); + + // The export directory shouldn't exist. + EXPECT_FALSE(common::exists("./collada_world_exporter_tiles_test")); + + // Run one iteration which should export the world. + server->Run(true, 1, false); + + // The export directory should now exist. + EXPECT_TRUE(common::exists("./collada_world_exporter_tiles_test")); + + // Cleanup + common::removeAll("./collada_world_exporter_tiles_test"); +} + ///////////////////////////////////////////////// /// 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 new file mode 100644 index 0000000000..578e60684b --- /dev/null +++ b/test/worlds/collada_world_exporter_submesh.sdf @@ -0,0 +1,46 @@ + + + + + + + 0.004 + 1.0 + + + + 0.1 0.1 0.1 1.0 + 0 0 0 1.0 + false + false + + + + + + + 288 + 0.2 + + + + + true + tile_1 + 22 100 -10 0 -0 -3.14159 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile 6 + + + + true + tile_2 + 22 111 -10 0 -0 0 + https://fuel.ignitionrobotics.org/1.0/OpenRobotics/models/Tunnel Tile Blocker + + + + From 949ca937d70352847489c896f1c45a3a925d5769 Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Fri, 23 Apr 2021 13:29:26 -0500 Subject: [PATCH 3/5] Add test case for submeshes Signed-off-by: Jorge Perez --- test/integration/collada_world_exporter.cc | 14 +- .../worlds/collada_world_exporter_submesh.sdf | 38 +---- .../materials/textures/cordless_drill.png | Bin 0 -> 40661 bytes .../cordless_drill/meshes/cordless_drill.dae | 138 ++++++++++++++++++ .../worlds/models/cordless_drill/model.config | 6 + test/worlds/models/cordless_drill/model.sdf | 22 +++ 6 files changed, 184 insertions(+), 34 deletions(-) create mode 100644 test/worlds/models/cordless_drill/materials/textures/cordless_drill.png create mode 100644 test/worlds/models/cordless_drill/meshes/cordless_drill.dae create mode 100644 test/worlds/models/cordless_drill/model.config create mode 100644 test/worlds/models/cordless_drill/model.sdf diff --git a/test/integration/collada_world_exporter.cc b/test/integration/collada_world_exporter.cc index 09bae1e180..ffd4a1d7be 100644 --- a/test/integration/collada_world_exporter.cc +++ b/test/integration/collada_world_exporter.cc @@ -74,23 +74,29 @@ TEST_F(ColladaWorldExporterFixture, ExportWorld) 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("./collada_world_exporter_tiles_test"); + common::removeAll(outputPath); // The export directory shouldn't exist. - EXPECT_FALSE(common::exists("./collada_world_exporter_tiles_test")); + 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("./collada_world_exporter_tiles_test")); + EXPECT_TRUE(common::exists(outputPath)); // Cleanup - common::removeAll("./collada_world_exporter_tiles_test"); + common::removeAll(outputPath); } ///////////////////////////////////////////////// diff --git a/test/worlds/collada_world_exporter_submesh.sdf b/test/worlds/collada_world_exporter_submesh.sdf index 578e60684b..9fef72c01b 100644 --- a/test/worlds/collada_world_exporter_submesh.sdf +++ b/test/worlds/collada_world_exporter_submesh.sdf @@ -3,43 +3,21 @@ Test world downloading 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420 739 2217 174 739 2218 373 739 2219 298 740 2220 397 740 2221 205 740 2222 205 741 2223 366 741 2224 298 741 2225 174 742 2226 420 742 2227 291 742 2228 115 743 2229 174 743 2230 291 743 2231 115 744 2232 87 744 2233 174 744 2234 348 745 2235 87 745 2236 115 745 2237 348 746 2238 168 746 2239 87 746 2240 168 747 2241 397 747 2242 87 747 2243 27 748 2244 115 748 2245 291 748 2246 115 749 2247 27 749 2248 548 749 2249 5 750 2250 115 750 2251 548 750 2252 297 751 2253 336 751 2254 202 751 2255 552 752 2256 336 752 2257 297 752 2258 336 753 2259 552 753 2260 348 753 2261 202 754 2262 374 754 2263 297 754 2264 552 755 2265 168 755 2266 348 755 2267 552 756 2268 297 756 2269 152 756 2270 168 757 2271 552 757 2272 152 757 2273 297 758 2274 416 758 2275 152 758 2276 297 759 2277 374 759 2278 416 759 2279 416 760 2280 209 760 2281 152 760 2282 158 761 2283 155 761 2284 416 761 2285 416 762 2286 368 762 2287 158 762 2288 454 763 2289 416 763 2290 155 763 2291 454 764 2292 61 764 2293 416 764 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560 791 2373 98 791 2374 6 791 2375 522 792 2376 302 792 2377 243 792 2378 242 793 2379 243 793 2380 302 793 2381 150 794 2382 243 794 2383 242 794 2384 150 795 2385 242 795 2386 187 795 2387 159 796 2388 410 796 2389 66 796 2390 452 797 2391 207 797 2392 453 797 2393 207 798 2394 521 798 2395 453 798 2396 453 799 2397 521 799 2398 151 799 2399 151 800 2400 217 800 2401 453 800 2402 388 801 2403 449 801 2404 429 801 2405 449 802 2406 388 802 2407 387 802 2408 429 803 2409 533 803 2410 388 803 2411 281 804 2412 388 804 2413 533 804 2414 281 805 2415 387 805 2416 388 805 2417 117 806 2418 553 806 2419 421 806 2420 117 807 2421 421 807 2422 472 807 2423 392 808 2424 117 808 2425 472 808 2426 289 809 2427 22 809 2428 554 809 2429 22 810 2430 289 810 2431 23 810 2432 10 811 2433 144 811 2434 441 811 2435 401 812 2436 359 812 2437 310 812 2438 359 813 2439 401 813 2440 394 813 2441 359 814 2442 479 814 2443 310 814 2444 401 815 2445 561 815 2446 394 815 2447 485 816 2448 438 816 2449 257 816 2450 3 817 2451 418 817 2452 232 817 2453 247 818 2454 34 818 2455 31 818 2456 34 819 2457 247 819 2458 526 819 2459 526 820 2460 247 820 2461 329 820 2462 247 821 2463 31 821 2464 334 821 2465 154 822 2466 247 822 2467 334 822 2468 329 823 2469 247 823 2470 154 823 2471 334 824 2472 446 824 2473 154 824 2474 446 825 2475 334 825 2476 269 825 2477 349 826 2478 123 826 2479 119 826 2480 106 827 2481 119 827 2482 123 827 2483 119 828 2484 106 828 2485 501 828 2486 106 829 2487 216 829 2488 501 829 2489 123 830 2490 349 830 2491 481 830 2492 96 831 2493 203 831 2494 526 831 2495 526 832 2496 203 832 2497 33 832 2498 34 833 2499 526 833 2500 33 833 2501 34 834 2502 33 834 2503 490 834 2504 203 835 2505 96 835 2506 42 835 2507 404 836 2508 120 836 2509 171 836 2510 404 837 2511 290 837 2512 120 837 2513 138 838 2514 404 838 2515 171 838 2516 326 839 2517 171 839 2518 120 839 2519 326 840 2520 120 840 2521 541 840 2522 541 841 2523 391 841 2524 326 841 2525 232 842 2526 391 842 2527 541 842 2528 232 843 2529 541 843 2530 3 843 2531 191 844 2532 272 844 2533 223 844 2534 255 845 2535 223 845 2536 272 845 2537 191 846 2538 265 846 2539 272 846 2540 191 847 2541 223 847 2542 338 847 2543 272 848 2544 489 848 2545 255 848 2546 255 849 2547 439 849 2548 223 849 2549 271 850 2550 223 850 2551 439 850 2552 485 851 2553 338 851 2554 223 851 2555 223 852 2556 271 852 2557 485 852 2558 438 853 2559 271 853 2560 439 853 2561 439 854 2562 435 854 2563 438 854 2564 271 855 2565 438 855 2566 485 855 2567 95 856 2568 203 856 2569 55 856 2570 203 857 2571 95 857 2572 490 857 2573 490 858 2574 33 858 2575 203 858 2576 95 859 2577 55 859 2578 466 859 2579 524 860 2580 55 860 2581 203 860 2582 466 861 2583 330 861 2584 95 861 2585 466 862 2586 55 862 2587 54 862 2588 55 863 2589 524 863 2590 54 863 2591 515 864 2592 466 864 2593 54 864 2594 203 865 2595 42 865 2596 524 865 2597 515 866 2598 330 866 2599 466 866 2600 110 867 2601 95 867 2602 330 867 2603 139 868 2604 549 868 2605 554 868 2606 544 869 2607 554 869 2608 549 869 2609 280 870 2610 139 870 2611 554 870 2612 280 871 2613 554 871 2614 194 871 2615 554 872 2616 22 872 2617 194 872 2618 21 873 2619 280 873 2620 194 873 2621 280 874 2622 21 874 2623 105 874 2624 21 875 2625 363 875 2626 105 875 2627 363 876 2628 21 876 2629 194 876 2630 22 877 2631 16 877 2632 194 877 2633 16 878 2634 363 878 2635 194 878 2636 208 879 2637 452 879 2638 258 879 2639 452 880 2640 453 880 2641 258 880 2642 217 881 2643 258 881 2644 453 881 2645 212 882 2646 258 882 2647 217 882 2648 452 883 2649 208 883 2650 372 883 2651 230 884 2652 372 884 2653 208 884 2654 540 885 2655 251 885 2656 516 885 2657 251 886 2658 486 886 2659 516 886 2660 526 887 2661 329 887 2662 96 887 2663 328 888 2664 96 888 2665 329 888 2666 96 889 2667 328 889 2668 77 889 2669 96 890 2670 77 890 2671 536 890 2672 270 891 2673 77 891 2674 328 891 2675 154 892 2676 328 892 2677 329 892 2678 467 893 2679 402 893 2680 351 893 2681 351 894 2682 402 894 2683 165 894 2684 351 895 2685 510 895 2686 467 895 2687 510 896 2688 351 896 2689 443 896 2690 510 897 2691 443 897 2692 496 897 2693 130 898 2694 418 898 2695 425 898 2696 41 899 2697 418 899 2698 130 899 2699 189 900 2700 130 900 2701 425 900 2702 220 901 2703 41 901 2704 130 901 2705 189 902 2706 291 902 2707 130 902 2708 371 903 2709 130 903 2710 291 903 2711 189 904 2712 9 904 2713 291 904 2714 425 905 2715 9 905 2716 189 905 2717 291 906 2718 9 906 2719 132 906 2720 371 907 2721 291 907 2722 420 907 2723 27 908 2724 291 908 2725 132 908 2726 441 909 2727 39 909 2728 108 909 2729 40 910 2730 441 910 2731 108 910 2732 108 911 2733 39 911 2734 264 911 2735 26 912 2736 441 912 2737 40 912 2738 367 913 2739 40 913 2740 108 913 2741 39 914 2742 441 914 2743 144 914 2744 238 915 2745 40 915 2746 367 915 2747 520 916 2748 26 916 2749 40 916 2750 238 917 2751 520 917 2752 40 917 2753 490 918 2754 95 918 2755 211 918 2756 211 919 2757 95 919 2758 110 919 2759 490 920 2760 211 920 2761 34 920 2762 78 921 2763 373 921 2764 298 921 2765 373 922 2766 78 922 2767 143 922 2768 143 923 2769 142 923 2770 373 923 2771 514 924 2772 405 924 2773 86 924 2774 86 925 2775 116 925 2776 514 925 2777 116 926 2778 86 926 2779 85 926 2780 90 927 2781 514 927 2782 116 927 2783 116 928 2784 477 928 2785 90 928 2786 46 929 2787 499 929 2788 88 929 2789 405 930 2790 88 930 2791 499 930 2792 498 931 2793 499 931 2794 46 931 2795 512 932 2796 214 932 2797 376 932 2798 214 933 2799 512 933 2800 6 933 2801 6 934 2802 63 934 2803 214 934 2804 116 935 2805 85 935 2806 126 935 2807 126 936 2808 477 936 2809 116 936 2810 477 937 2811 126 937 2812 356 937 2813 345 938 2814 126 938 2815 85 938 2816 170 939 2817 477 939 2818 356 939 2819 299 940 2820 346 940 2821 343 940 2822 112 941 2823 492 941 2824 111 941 2825 489 942 2826 219 942 2827 166 942 2828 489 943 2829 272 943 2830 219 943 2831 100 944 2832 489 944 2833 166 944 2834 219 945 2835 415 945 2836 166 945 2837 265 946 2838 219 946 2839 272 946 2840 415 947 2841 414 947 2842 166 947 2843 265 948 2844 84 948 2845 219 948 2846 84 949 2847 415 949 2848 219 949 2849 403 950 2850 165 950 2851 215 950 2852 165 951 2853 403 951 2854 351 951 2855 356 952 2856 186 952 2857 70 952 2858 284 953 2859 70 953 2860 186 953 2861 36 954 2862 284 954 2863 186 954 2864 185 955 2865 186 955 2866 356 955 2867 185 956 2868 36 956 2869 186 956 2870 310 957 2871 479 957 2872 346 957 2873 109 958 2874 549 958 2875 139 958 2876 549 959 2877 109 959 2878 199 959 2879 232 960 2880 549 960 2881 199 960 2882 115 961 2883 336 961 2884 348 961 2885 404 962 2886 138 962 2887 105 962 2888 138 963 2889 171 963 2890 342 963 2891 232 964 2892 199 964 2893 391 964 2894 2 965 2895 558 965 2896 302 965 2897 522 966 2898 2 966 2899 302 966 2900 342 967 2901 105 967 2902 138 967 2903 336 968 2904 115 968 2905 5 968 2906 168 969 2907 529 969 2908 397 969 2909 2 970 2910 522 970 2911 133 970 2912 487 971 2913 150 971 2914 187 971 2915 387 972 2916 465 972 2917 378 972 2918 171 973 2919 109 973 2920 139 973 2921 187 974 2922 128 974 2923 487 974 2924 205 975 2925 397 975 2926 529 975 2927 105 976 2928 460 976 2929 404 976 2930 133 977 2931 8 977 2932 333 977 2933 404 978 2934 460 978 2935 16 978 2936 171 979 2937 139 979 2938 342 979 2939 563 980 2940 357 980 2941 131 980 2942 362 981 2943 176 981 2944 393 981 2945 391 982 2946 199 982 2947 109 982 2948 187 983 2949 464 983 2950 559 983 2951 205 984 2952 529 984 2953 209 984 2954 559 985 2955 128 985 2956 187 985 2957 128 986 2958 559 986 2959 129 986 2960 361 987 2961 0 987 2962 1 987 2963 361 988 2964 411 988 2965 0 988 2966 361 989 2967 1 989 2968 411 989 2969 0 990 2970 411 990 2971 1 990 2972 188 991 2973 202 991 2974 336 991 2975 202 992 2976 188 992 2977 131 992 2978 422 993 2979 131 993 2980 188 993 2981 131 994 2982 422 994 2983 563 994 2984 212 995 2985 486 995 2986 251 995 2987 129 996 2988 212 996 2989 251 996 2990 23 997 2991 550 997 2992 404 997 2993 304 998 2994 315 998 2995 217 998 2996 304 999 2997 217 999 2998 151 999 2999 373 1000 3000 142 1000 3001 420 1000 3002 486 1001 3003 212 1001 3004 315 1001 3005 243 1002 3006 381 1002 3007 244 1002 3008 9 1003 3009 299 1003 3010 132 1003 3011 549 1004 3012 232 1004 3013 418 1004 3014 61 1005 3015 454 1005 3016 366 1005 3017 205 1006 3018 61 1006 3019 366 1006 3020 556 1007 3021 392 1007 3022 546 1007 3023 10 1008 3024 441 1008 3025 286 1008 3026 286 1009 3027 441 1009 3028 360 1009 3029 392 1010 3030 556 1010 3031 104 1010 3032 425 1011 3033 3 1011 3034 148 1011 3035 294 1012 3036 540 1012 3037 277 1012 3038 472 1013 3039 546 1013 3040 392 1013 3041 141 1014 3042 112 1014 3043 496 1014 3044 415 1015 3045 84 1015 3046 234 1015 3047 23 1016 3048 16 1016 3049 22 1016 3050 528 1017 3051 520 1017 3052 238 1017 3053 528 1018 3054 238 1018 3055 367 1018 3056 372 1019 3057 384 1019 3058 383 1019 3059 183 1020 3060 358 1020 3061 177 1020 3062 428 1021 3063 368 1021 3064 463 1021 3065 295 1022 3066 384 1022 3067 372 1022 3068 230 1023 3069 295 1023 3070 372 1023 3071 133 1024 3072 564 1024 3073 430 1024 3074 360 1025 3075 441 1025 3076 26 1025 3077 212 1026 3078 559 1026 3079 258 1026 3080 133 1027 3081 295 1027 3082 2 1027 3083 383 1028 3084 180 1028 3085 382 1028 3086 541 1029 3087 354 1029 3088 350 1029 3089 541 1030 3090 350 1030 3091 148 1030 3092 148 1031 3093 3 1031 3094 541 1031 3095 541 1032 3096 120 1032 3097 354 1032 3098 431 1033 3099 213 1033 3100 65 1033 3101 210 1034 3102 492 1034 3103 545 1034 3104 328 1035 3105 154 1035 3106 125 1035 3107 125 1036 3108 287 1036 3109 328 1036 3110 42 1037 3111 96 1037 3112 536 1037 3113 299 1038 3114 535 1038 3115 132 1038 3116 86 1039 3117 499 1039 3118 85 1039 3119 498 1040 3120 85 1040 3121 499 1040 3122 85 1041 3123 498 1041 3124 345 1041 3125 482 1042 3126 483 1042 3127 264 1042 3128 13 1043 3129 482 1043 3130 264 1043 3131 108 1044 3132 264 1044 3133 483 1044 3134 264 1045 3135 14 1045 3136 13 1045 3137 14 1046 3138 264 1046 3139 39 1046 3140 155 1047 3141 23 1047 3142 454 1047 3143 550 1048 3144 23 1048 3145 155 1048 3146 306 1049 3147 550 1049 3148 155 1049 3149 155 1050 3150 158 1050 3151 306 1050 3152 344 1051 3153 306 1051 3154 158 1051 3155 235 1052 3156 250 1052 3157 54 1052 3158 54 1053 3159 250 1053 3160 515 1053 3161 513 1054 3162 28 1054 3163 483 1054 3164 399 1055 3165 414 1055 3166 12 1055 3167 414 1056 3168 399 1056 3169 503 1056 3170 399 1057 3171 81 1057 3172 503 1057 3173 39 1058 3174 144 1058 3175 160 1058 3176 39 1059 3177 160 1059 3178 44 1059 3179 44 1060 3180 14 1060 3181 39 1060 3182 182 1061 3183 544 1061 3184 32 1061 3185 32 1062 3186 544 1062 3187 418 1062 3188 32 1063 3189 418 1063 3190 41 1063 3191 502 1064 3192 47 1064 3193 107 1064 3194 339 1065 3195 47 1065 3196 502 1065 3197 74 1066 3198 540 1066 3199 294 1066 3200 74 1067 3201 294 1067 3202 409 1067 3203 408 1068 3204 74 1068 3205 409 1068 3206 185 1069 3207 356 1069 3208 126 1069 3209 126 1070 3210 345 1070 3211 185 1070 3212 36 1071 3213 185 1071 3214 345 1071 3215 450 1072 3216 83 1072 3217 327 1072 3218 327 1073 3219 83 1073 3220 481 1073 3221 191 1074 3222 193 1074 3223 265 1074 3224 84 1075 3225 265 1075 3226 193 1075 3227 299 1076 3228 9 1076 3229 239 1076 3230 9 1077 3231 350 1077 3232 239 1077 3233 9 1078 3234 425 1078 3235 350 1078 3236 350 1079 3237 425 1079 3238 148 1079 3239 405 1080 3240 499 1080 3241 86 1080 3242 87 1081 3243 397 1081 3244 174 1081 3245 24 1082 3246 226 1082 3247 293 1082 3248 226 1083 3249 24 1083 3250 456 1083 3251 293 1084 3252 226 1084 3253 140 1084 3254 548 1085 3255 140 1085 3256 226 1085 3257 226 1086 3258 456 1086 3259 563 1086 3260 456 1087 3261 357 1087 3262 563 1087 3263 321 1088 3264 288 1088 3265 478 1088 3266 321 1089 3267 478 1089 3268 169 1089 3269 461 1090 3270 23 1090 3271 190 1090 3272 190 1091 3273 454 1091 3274 461 1091 3275 461 1092 3276 454 1092 3277 23 1092 3278 12 1093 3279 414 1093 3280 234 1093 3281 415 1094 3282 234 1094 3283 414 1094 3284 287 1095 3285 270 1095 3286 328 1095 3287 485 1096 3288 257 1096 3289 500 1096 3290 549 1097 3291 418 1097 3292 544 1097 3293 323 1098 3294 430 1098 3295 564 1098 3296 564 1099 3297 180 1099 3298 323 1099 3299 276 1100 3300 323 1100 3301 180 1100 3302 564 1101 3303 60 1101 3304 180 1101 3305 180 1102 3306 383 1102 3307 276 1102 3308 166 1103 3309 414 1103 3310 503 1103 3311 108 1104 3312 483 1104 3313 28 1104 3314 367 1105 3315 108 1105 3316 28 1105 3317 182 1106 3318 554 1106 3319 544 1106 3320 518 1107 3321 65 1107 3322 58 1107 3323 290 1108 3324 404 1108 3325 550 1108 3326 261 1109 3327 104 1109 3328 556 1109 3329 104 1110 3330 261 1110 3331 308 1110 3332 23 1111 3333 289 1111 3334 222 1111 3335 412 1112 3336 449 1112 3337 378 1112 3338 412 1113 3339 378 1113 3340 474 1113 3341 378 1114 3342 465 1114 3343 474 1114 3344 449 1115 3345 387 1115 3346 378 1115 3347 83 1116 3348 11 1116 3349 481 1116 3350 561 1117 3351 375 1117 3352 394 1117 3353 477 1118 3354 170 1118 3355 90 1118 3356 112 1119 3357 510 1119 3358 496 1119 3359 503 1120 3360 81 1120 3361 166 1120 3362 81 1121 3363 100 1121 3364 166 1121 3365 485 1122 3366 500 1122 3367 338 1122 3368 356 1123 3369 164 1123 3370 170 1123 3371 429 1124 3372 158 1124 3373 386 1124 3374 368 1125 3375 386 1125 3376 158 1125 3377

    +     +     +     +     + + + + + + + + + + + + + + + + + + +     diff --git a/test/worlds/models/cordless_drill/model.config b/test/worlds/models/cordless_drill/model.config new file mode 100644 index 0000000000..be37bdae62 --- /dev/null +++ b/test/worlds/models/cordless_drill/model.config @@ -0,0 +1,6 @@ + + + cordless_drill + 1.0 + model.sdf + diff --git a/test/worlds/models/cordless_drill/model.sdf b/test/worlds/models/cordless_drill/model.sdf new file mode 100644 index 0000000000..886bad2b9a --- /dev/null +++ b/test/worlds/models/cordless_drill/model.sdf @@ -0,0 +1,22 @@ + + + + 0 0 1 0 0 0 + + + + + model://cordless_drill/meshes/cordless_drill.dae + + + + + + + model://cordless_drill/meshes/cordless_drill.dae + + + + + + From a1ec6dab4eda1030f42139e0c039bda959d8f474 Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Mon, 26 Apr 2021 09:33:05 -0500 Subject: [PATCH 4/5] Change test model to include submeshes Signed-off-by: Jorge Perez --- .../worlds/collada_world_exporter_submesh.sdf | 2 +- .../cordless_drill/meshes/cordless_drill.dae | 138 ------------- .../worlds/models/cordless_drill/model.config | 6 - .../materials/textures/cordless_drill.png | Bin .../models/mesh_with_submeshes/meshes/box.dae | 98 +++++++++ .../meshes/mesh_with_submeshes.dae | 186 ++++++++++++++++++ .../models/mesh_with_submeshes/model.config | 7 + .../model.sdf | 9 +- 8 files changed, 297 insertions(+), 149 deletions(-) delete mode 100644 test/worlds/models/cordless_drill/meshes/cordless_drill.dae delete mode 100644 test/worlds/models/cordless_drill/model.config rename test/worlds/models/{cordless_drill => mesh_with_submeshes}/materials/textures/cordless_drill.png (100%) create mode 100644 test/worlds/models/mesh_with_submeshes/meshes/box.dae create mode 100644 test/worlds/models/mesh_with_submeshes/meshes/mesh_with_submeshes.dae create mode 100644 test/worlds/models/mesh_with_submeshes/model.config rename test/worlds/models/{cordless_drill => mesh_with_submeshes}/model.sdf (64%) diff --git a/test/worlds/collada_world_exporter_submesh.sdf b/test/worlds/collada_world_exporter_submesh.sdf index 9fef72c01b..08380069a4 100644 --- a/test/worlds/collada_world_exporter_submesh.sdf +++ b/test/worlds/collada_world_exporter_submesh.sdf @@ -17,7 +17,7 @@ true 22 111 -10 0 -0 0 - model://cordless_drill + model://mesh_with_submeshes diff --git a/test/worlds/models/cordless_drill/meshes/cordless_drill.dae b/test/worlds/models/cordless_drill/meshes/cordless_drill.dae deleted file mode 100644 index c1e0cc7141..0000000000 --- a/test/worlds/models/cordless_drill/meshes/cordless_drill.dae +++ /dev/null @@ -1,138 +0,0 @@ - - - - - VCGLab - VCGLib | MeshLab - - - Y_UP - Wed Apr 25 01:31:43 2012 - Wed Apr 25 01:31:43 2012 - - - - ../materials/textures/cordless_drill.png - - - - - - - - - - - - - texture0 - R8G8B8 - - - - - texture0-surface - LINEAR - LINEAR - - - - - - 0 0 0 1 - - - 1 1 1 1 - - - - - - 0 0 0 1 - - - 0.3 - - - 0 0 0 1 - - - 0.5 - 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    161 0 0 250 0 1 495 0 2 495 1 3 250 1 4 59 1 5 495 2 6 195 2 7 161 2 8 250 3 9 156 3 10 59 3 11 235 4 12 156 4 13 250 4 14 156 5 15 52 5 16 59 5 17 525 6 18 59 6 19 52 6 20 59 7 21 184 7 22 495 7 23 525 8 24 56 8 25 59 8 26 59 9 27 56 9 28 184 9 29 495 10 30 184 10 31 137 10 32 195 11 33 495 11 34 321 11 35 321 12 36 495 12 37 137 12 38 331 13 39 184 13 40 56 13 41 331 14 42 137 14 43 184 14 44 56 15 45 525 15 46 240 15 47 169 16 48 195 16 49 321 16 50 161 17 51 515 17 52 250 17 53 515 18 54 161 18 55 330 18 56 56 19 57 240 19 58 69 19 59 56 20 60 69 20 61 331 20 62 321 21 63 137 21 64 424 21 65 424 22 66 331 22 67 69 22 68 321 23 69 424 23 70 288 23 71 137 24 72 331 24 73 424 24 74 288 25 75 424 25 76 20 25 77 523 26 78 69 26 79 240 26 80 370 27 81 69 27 82 523 27 83 76 28 84 424 28 85 69 28 86 424 29 87 15 29 88 20 29 89 509 30 90 69 30 91 370 30 92 69 31 93 509 31 94 76 31 95 76 32 96 75 32 97 424 32 98 75 33 99 15 33 100 424 33 101 75 34 102 76 34 103 283 34 104 75 35 105 385 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1124 311 375 1125 419 375 1126 178 375 1127 94 376 1128 497 376 1129 227 376 1130 178 377 1131 118 377 1132 311 377 1133 419 378 1134 99 378 1135 309 378 1136 309 379 1137 99 379 1138 94 379 1139 311 380 1140 216 380 1141 419 380 1142 19 381 1143 97 381 1144 508 381 1145 97 382 1146 19 382 1147 335 382 1148 97 383 1149 335 383 1150 256 383 1151 97 384 1152 256 384 1153 175 384 1154 257 385 1155 335 385 1156 19 385 1157 256 386 1158 335 386 1159 257 386 1160 256 387 1161 257 387 1162 438 387 1163 257 388 1164 19 388 1165 480 388 1166 436 389 1167 257 389 1168 480 389 1169 500 390 1170 257 390 1171 436 390 1172 19 391 1173 340 391 1174 480 391 1175 340 392 1176 19 392 1177 475 392 1178 339 393 1179 508 393 1180 97 393 1181 97 394 1182 47 394 1183 339 394 1184 181 395 1185 340 395 1186 475 395 1187 340 396 1188 181 396 1189 403 396 1190 181 397 1191 475 397 1192 196 397 1193 181 398 1194 351 398 1195 403 398 1196 496 399 1197 181 399 1198 196 399 1199 181 400 1200 443 400 1201 351 400 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3355 3355 3355 3356 3356 3356 3357 3357 3357 3358 3358 3358 3359 3359 3359 3360 3360 3360 3361 3361 3361 3362 3362 3362 3363 3363 3363 3364 3364 3364 3365 3365 3365 3366 3366 3366 3367 3367 3367 3368 3368 3368 3369 3369 3369 3370 3370 3370 3371 3371 3371 3372 3372 3372 3373 3373 3373 3374 3374 3374 3375 3375 3375 3376 3376 3376 3377 3377 3377

    +     +     +     +     + + + ../materials/textures//cordless_drill.png + + + + + + + + + + + + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.000000 0.000000 0.000000 1.000000 + + + 0.639216 0.639216 0.639216 1.000000 + + + 0.498039 0.498039 0.498039 1.000000 + + + 1.000000 + + + 50.000000 + + + + + + + + + + image_1 + + + + + image_1_surface + LINEAR + LINEAR + + + + + + 1.000000 1.000000 1.000000 1.000000 + + + 0.000000 0.000000 0.000000 1.000000 + + + + + + 0.000000 0.000000 0.000000 1.000000 + + + 1.000000 + + + 0.300000 + + + + + + + + + + 1.00000000 0.00000000 0.00000000 10.00000000 0.00000000 1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 1.00000000 + + + + + + + + + + 1.00000000 0.00000000 0.00000000 -10.00000000 0.00000000 1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 1.00000000 0.00000000 0.00000000 0.00000000 0.00000000 1.00000000 + + + + + + + + + + + + + + + +     diff --git a/test/worlds/models/mesh_with_submeshes/model.config b/test/worlds/models/mesh_with_submeshes/model.config new file mode 100644 index 0000000000..5f8cbc02f1 --- /dev/null +++ b/test/worlds/models/mesh_with_submeshes/model.config @@ -0,0 +1,7 @@ + + + mesh_with_submeshes + 1.0 + model.sdf + + diff --git a/test/worlds/models/cordless_drill/model.sdf b/test/worlds/models/mesh_with_submeshes/model.sdf similarity index 64% rename from test/worlds/models/cordless_drill/model.sdf rename to test/worlds/models/mesh_with_submeshes/model.sdf index 886bad2b9a..fcf8f2d660 100644 --- a/test/worlds/models/cordless_drill/model.sdf +++ b/test/worlds/models/mesh_with_submeshes/model.sdf @@ -1,22 +1,23 @@ - - + + 0 0 1 0 0 0 - model://cordless_drill/meshes/cordless_drill.dae + model://mesh_with_submeshes/meshes/box.dae - model://cordless_drill/meshes/cordless_drill.dae + model://mesh_with_submeshes/meshes/box.dae + From 532fc4ab822ae68479f57c7c1aeec97a7bd5c26b Mon Sep 17 00:00:00 2001 From: Jorge Perez Date: Mon, 26 Apr 2021 13:42:39 -0500 Subject: [PATCH 5/5] Remove wrongly added mesh Signed-off-by: Jorge Perez --- .../models/mesh_with_submeshes/meshes/box.dae | 98 ------------------- .../models/mesh_with_submeshes/model.sdf | 4 +- 2 files changed, 2 insertions(+), 100 deletions(-) delete mode 100644 test/worlds/models/mesh_with_submeshes/meshes/box.dae diff --git a/test/worlds/models/mesh_with_submeshes/meshes/box.dae b/test/worlds/models/mesh_with_submeshes/meshes/box.dae deleted file mode 100644 index 6ace63dcb4..0000000000 --- a/test/worlds/models/mesh_with_submeshes/meshes/box.dae +++ /dev/null @@ -1,98 +0,0 @@ - - - - - Z_UP - - - - - - - - 0 0 0 1 - - - 0 0 0 1 - - - 0.64 0.64 0.64 1 - - - 0.5 0.5 0.5 1 - - - 50 - - - 1 1 1 1 - - - 1 - - - 1 - - - - - - - - - - - - - - - - 1 1 -1 1 -1 -1 -1 -0.9999998 -1 -0.9999997 1 -1 1 0.9999995 1 0.9999994 -1.000001 1 -1 -0.9999997 1 -1 1 1 - - - - - - - - - - 0 0 -1 0 0 1 1 -2.83122e-7 0 -2.83122e-7 -1 0 -1 2.23517e-7 -1.3411e-7 2.38419e-7 1 2.08616e-7 - - - - - - - - - - - - - - - 4 4 4 4 4 4 -

    0 0 1 0 2 0 3 0 4 1 7 1 6 1 5 1 0 2 4 2 5 2 1 2 1 3 5 3 6 3 2 3 2 4 6 4 7 4 3 4 4 5 0 5 3 5 7 5

    -     -     - 1 -     -     - - - - - - - - - - - - - - - - -     diff --git a/test/worlds/models/mesh_with_submeshes/model.sdf b/test/worlds/models/mesh_with_submeshes/model.sdf index fcf8f2d660..4bba6e8d75 100644 --- a/test/worlds/models/mesh_with_submeshes/model.sdf +++ b/test/worlds/models/mesh_with_submeshes/model.sdf @@ -6,14 +6,14 @@ - model://mesh_with_submeshes/meshes/box.dae + model://mesh_with_submeshes/meshes/mesh_with_submeshes.dae - model://mesh_with_submeshes/meshes/box.dae + model://mesh_with_submeshes/meshes/mesh_with_submeshes.dae