[Ovmm] Merge main and add magnum plugins

.pre-commit-config.yaml

@@ -136,6 +136,7 @@ repos:
     hooks:
     -   id: eslint
         args: [--fix, --ext .html,.js]
+        language_version: 14.21.3
         additional_dependencies:
         - eslint@6.4.0
         - eslint-config-prettier@6.3.0

data/test_assets/urdf/skinned_prism.ao_config.json

@@ -0,0 +1,5 @@
+{
+    "render_asset": "../objects/skinned_prism.glb",
+    "semantic_id": 100,
+    "debug_render_primitives": false
+}

data/test_assets/urdf/skinned_prism.urdf

@@ -0,0 +1,107 @@
+<?xml version="1.0" ?>
+<robot name="skinned_prism">
+  <material name="mat">
+    <color rgba="1.0 1.0 1.0 1.0"/>
+  </material>
+
+  <link name="A">
+    <visual>
+      <material name="mat"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="B">
+    <visual>
+      <material name="mat"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="C">
+    <visual>
+      <material name="mat"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="D">
+    <visual>
+      <material name="mat"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <link name="E">
+    <visual>
+      <material name="mat"/>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+        <box size="0.05 0.05 0.05"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="B" type="spherical">
+    <parent link="A"/>
+    <child link="B"/>
+    <origin xyz="0 0 1.5" rpy="0 0 0"/>
+  </joint>
+  <joint name="C" type="spherical">
+    <parent link="B"/>
+    <child link="C"/>
+    <origin xyz="0 0 3" rpy="0 0 0"/>
+  </joint>
+  <joint name="D" type="spherical">
+    <parent link="C"/>
+    <child link="D"/>
+    <origin xyz="0 0 4.5" rpy="0 0 0"/>
+  </joint>
+  <joint name="E" type="spherical">
+    <parent link="D"/>
+    <child link="E"/>
+    <origin xyz="0 0 6" rpy="0 0 0"/>
+  </joint>
+</robot>

examples/tutorials/lighting_tutorial.py

@@ -149,7 +149,7 @@ def main(show_imgs=True, save_imgs=False):
 
     # create a custom light setup
     my_default_lighting = [
-        LightInfo(vector=[2.0, 2.0, 1.0, 0.0], model=LightPositionModel.Camera)
+        LightInfo(vector=[-2.0, -2.0, -1.0, 0.0], model=LightPositionModel.Camera)
     ]
     # overwrite the default DEFAULT_LIGHTING_KEY light setup
     sim.set_light_setup(my_default_lighting)
@@ -208,7 +208,7 @@ def main(show_imgs=True, save_imgs=False):
     # create a new setup with an additional light
     new_light_setup = existing_light_setup + [
         LightInfo(
-            vector=[0.0, 0.0, 1.0, 0.0],
+            vector=[0.0, 0.0, -1.0, 0.0],
             color=[1.6, 1.6, 1.4],
             model=LightPositionModel.Camera,
         )

examples/viewer.py

@@ -53,24 +53,25 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         )
 
         # Compute environment camera resolution based on the number of environments to render in the window.
-        surface_size: tuple(int, int) = (
+        window_size: mn.Vector2 = (
             self.sim_settings["window_width"],
             self.sim_settings["window_height"],
         )
-        grid_size: tuple(int, int) = ReplayRenderer.environment_grid_size(self.num_env)
-        camera_resolution: tuple(int, int) = (
-            surface_size[0] / grid_size[0],
-            surface_size[1] / grid_size[1],
-        )
-        self.sim_settings["width"] = camera_resolution[0]
-        self.sim_settings["height"] = camera_resolution[1]
 
         configuration = self.Configuration()
         configuration.title = "Habitat Sim Interactive Viewer"
-        configuration.size = surface_size
+        configuration.size = window_size
         Application.__init__(self, configuration)
         self.fps: float = 60.0
 
+        # Compute environment camera resolution based on the number of environments to render in the window.
+        grid_size: mn.Vector2i = ReplayRenderer.environment_grid_size(self.num_env)
+        camera_resolution: mn.Vector2 = mn.Vector2(self.framebuffer_size) / mn.Vector2(
+            grid_size
+        )
+        self.sim_settings["width"] = camera_resolution[0]
+        self.sim_settings["height"] = camera_resolution[1]
+
         # draw Bullet debug line visualizations (e.g. collision meshes)
         self.debug_bullet_draw = False
         # draw active contact point debug line visualizations
@@ -138,11 +139,12 @@ def __init__(self, sim_settings: Dict[str, Any]) -> None:
         # text object transform in window space is Projection matrix times Translation Matrix
         # put text in top left of window
         self.window_text_transform = mn.Matrix3.projection(
-            mn.Vector2(surface_size)
+            self.framebuffer_size
         ) @ mn.Matrix3.translation(
-            mn.Vector2(
-                surface_size[0] * -HabitatSimInteractiveViewer.TEXT_DELTA_FROM_CENTER,
-                surface_size[1] * HabitatSimInteractiveViewer.TEXT_DELTA_FROM_CENTER,
+            mn.Vector2(self.framebuffer_size)
+            * mn.Vector2(
+                -HabitatSimInteractiveViewer.TEXT_DELTA_FROM_CENTER,
+                HabitatSimInteractiveViewer.TEXT_DELTA_FROM_CENTER,
             )
         )
         self.shader = shaders.VectorGL2D()
@@ -558,13 +560,31 @@ def key_press_event(self, event: Application.KeyEvent) -> None:
                 self.cached_urdf = urdf_file_path
                 aom = self.sim.get_articulated_object_manager()
                 ao = aom.add_articulated_object_from_urdf(
-                    urdf_file_path, fixed_base, 1.0, 1.0, True
+                    urdf_file_path,
+                    fixed_base,
+                    1.0,
+                    1.0,
+                    True,
+                    maintain_link_order=False,
+                    intertia_from_urdf=False,
                 )
                 ao.translation = (
                     self.default_agent.scene_node.transformation.transform_point(
                         [0.0, 1.0, -1.5]
                     )
                 )
+                # check removal and auto-creation
+                joint_motor_settings = habitat_sim.physics.JointMotorSettings(
+                    position_target=0.0,
+                    position_gain=1.0,
+                    velocity_target=0.0,
+                    velocity_gain=1.0,
+                    max_impulse=1000.0,
+                )
+                existing_motor_ids = ao.existing_joint_motor_ids
+                for motor_id in existing_motor_ids:
+                    ao.remove_joint_motor(motor_id)
+                ao.create_all_motors(joint_motor_settings)
             else:
                 logger.warn("Load URDF: input file not found. Aborting.")
 

src/cmake/FindMagnum.cmake

@@ -128,7 +128,7 @@
 #
 # Features of found Magnum library are exposed in these variables:
 #
-#  MAGNUM_BUILD_DEPRECATED      - Defined if compiled with deprecated APIs
+#  MAGNUM_BUILD_DEPRECATED      - Defined if compiled with deprecated features
 #   included
 #  MAGNUM_BUILD_STATIC          - Defined if compiled as static libraries
 #  MAGNUM_BUILD_STATIC_UNIQUE_GLOBALS - Defined if static libraries keep the
@@ -910,7 +910,7 @@ foreach(_component ${Magnum_FIND_COMPONENTS})
 
         # SceneTools library
         elseif(_component STREQUAL SceneTools)
-            set(_MAGNUM_${_COMPONENT}_INCLUDE_PATH_NAMES FlattenMeshHierarchy.h)
+            set(_MAGNUM_${_COMPONENT}_INCLUDE_PATH_NAMES FlattenTransformationHierarchy.h)
 
         # ShaderTools library
         elseif(_component STREQUAL ShaderTools)

src/cmake/FindMagnumPlugins.cmake

@@ -39,6 +39,7 @@
 #  PngImporter                  - PNG importer
 #  PrimitiveImporter            - Primitive importer
 #  SpirvToolsShaderConverter    - SPIR-V Tools shader converter
+#  SpngImporter                 - PNG importer using libspng
 #  StanfordImporter             - Stanford PLY importer
 #  StanfordSceneConverter       - Stanford PLY converter
 #  StbDxtImageConverter         - BC1/BC3 image compressor using stb_dxt
@@ -168,10 +169,10 @@ set(_MAGNUMPLUGINS_PLUGIN_COMPONENTS
     JpegImporter KtxImageConverter KtxImporter MeshOptimizerSceneConverter
     MiniExrImageConverter OpenExrImageConverter OpenExrImporter
     OpenGexImporter PngImageConverter PngImporter PrimitiveImporter
-    SpirvToolsShaderConverter StanfordImporter StanfordSceneConverter
-    StbDxtImageConverter StbImageConverter StbImageImporter
-    StbResizeImageConverter StbTrueTypeFont StbVorbisAudioImporter StlImporter
-    UfbxImporter WebPImporter)
+    SpirvToolsShaderConverter SpngImporter StanfordImporter
+    StanfordSceneConverter StbDxtImageConverter StbImageConverter
+    StbImageImporter StbResizeImageConverter StbTrueTypeFont
+    StbVorbisAudioImporter StlImporter UfbxImporter WebPImporter)
 # Nothing is enabled by default right now
 set(_MAGNUMPLUGINS_IMPLICITLY_ENABLED_COMPONENTS )
 
@@ -471,6 +472,12 @@ foreach(_component ${MagnumPlugins_FIND_COMPONENTS})
             set_property(TARGET MagnumPlugins::${_component} APPEND PROPERTY
                 INTERFACE_LINK_LIBRARIES SpirvTools::SpirvTools SpirvTools::Opt)
 
+        # SpngImporter plugin dependencies
+        elseif(_component STREQUAL SpngImporter)
+            find_package(Spng REQUIRED)
+            set_property(TARGET MagnumPlugins::${_component} APPEND PROPERTY
+                INTERFACE_LINK_LIBRARIES Spng::Spng)
+
         # StanfordImporter has no dependencies
         # StanfordSceneConverter has no dependencies
         # StbDxtImageConverter has no dependencies

src/cmake/dependencies.cmake

@@ -199,7 +199,9 @@ if(NOT USE_SYSTEM_MAGNUM)
 
   # These are enabled by default but we don't need them for anything yet
   set(MAGNUM_WITH_SHADERTOOLS OFF CACHE BOOL "" FORCE)
-  set(MAGNUM_WITH_MATERIALTOOLS OFF CACHE BOOL "" FORCE)
+  # These used to be disabled here but now aren't, explicitly enable them to
+  # update options in existing builds
+  set(MAGNUM_WITH_MATERIALTOOLS ON CACHE BOOL "" FORCE)
 
   # These are enabled by default but we don't need them if not building GUI
   # viewers -- disabling for slightly faster builds. If you need any of these
@@ -347,16 +349,25 @@ if(NOT USE_SYSTEM_MAGNUM)
     # Make Magnum text rendering plugins (used by the native viewer) available
     # for Python as well; and reset that back to strange build procedures that
     # turn some features off again later can still work.
+    set(
+      common_plugins
+      Magnum::AnyImageConverter
+      Magnum::AnyImageImporter
+      Magnum::AnySceneImporter
+      MagnumPlugins::AssimpImporter
+      MagnumPlugins::BasisImporter
+      MagnumPlugins::GltfImporter
+      MagnumPlugins::StanfordImporter
+      MagnumPlugins::StbImageConverter
+      MagnumPlugins::StbImageImporter
+    )
     if(BUILD_GUI_VIEWERS)
-      set(MAGNUM_PYTHON_BINDINGS_STATIC_PLUGINS
-          MagnumPlugins::StbTrueTypeFont Magnum::AnySceneImporter
-          MagnumPlugins::AssimpImporter CACHE STRING "" FORCE
-      )
-    else()
-      set(MAGNUM_PYTHON_BINDINGS_STATIC_PLUGINS Magnum::AnySceneImporter
-                                                MagnumPlugins::AssimpImporter
+      set(MAGNUM_PYTHON_BINDINGS_STATIC_PLUGINS ${common_plugins}
+                                                MagnumPlugins::StbTrueTypeFont
           CACHE STRING "" FORCE
       )
+    else()
+      set(MAGNUM_PYTHON_BINDINGS_STATIC_PLUGINS ${common_plugins} CACHE STRING "" FORCE)
     endif()
     add_subdirectory("${DEPS_DIR}/magnum-bindings")
   endif()

src/esp/assets/CMakeLists.txt

@@ -31,6 +31,7 @@ find_package(
   AnyImageImporter
   AnySceneImporter
   GL
+  MaterialTools
   MeshTools
   SceneGraph
   SceneTools
@@ -82,7 +83,7 @@ target_link_libraries(
          MagnumPlugins::StanfordImporter
          MagnumPlugins::StbImageImporter
          MagnumPlugins::StbImageConverter
-  PRIVATE geo io
+  PRIVATE geo io Magnum::MaterialTools
 )
 
 if(BUILD_WITH_VHACD)

src/esp/assets/MeshMetaData.h

@@ -45,6 +45,9 @@ struct MeshTransformNode {
 
   /** @brief Default constructor. */
   MeshTransformNode() = default;
+
+  /** @brief Node name in the original file. */
+  std::string name{};
 };
 
 /**
@@ -74,6 +77,10 @@ struct MeshMetaData {
   std::pair<start, end> textureIndex =
       std::make_pair(ID_UNDEFINED, ID_UNDEFINED);
 
+  /** @brief Index range (inclusive) of skin data for the asset in the global
+   * asset datastructure. */
+  std::pair<start, end> skinIndex = std::make_pair(ID_UNDEFINED, ID_UNDEFINED);
+
   /** @brief The root of the mesh component transformation hierarchy tree which
    * stores the relationship between components of the asset.*/
   MeshTransformNode root;
@@ -116,6 +123,19 @@ struct MeshMetaData {
     textureIndex.second = textureEnd;
   }
 
+  /**
+   * @brief Sets the skin indices for the asset. See @ref
+   * ResourceManager::skins_.
+   * @param skinStart First index for asset skin data in the global
+   * skin datastructure.
+   * @param skinEnd Final index for asset skin data in the global skin
+   * datastructure.
+   */
+  void setSkinIndices(int skinStart, int skinEnd) {
+    skinIndex.first = skinStart;
+    skinIndex.second = skinEnd;
+  }
+
   /**
    * @brief Set the root frame orientation based on passed frame
    * @param frame target frame in world space