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This fix for cases where VERTEX and NROMAL share same polylist <p> , see https://github.com/osrf/gazebo/issues/2682#issue-602951524 #2811

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merged 3 commits into from
Aug 11, 2020
Merged

This fix for cases where VERTEX and NROMAL share same polylist <p> , see https://github.com/osrf/gazebo/issues/2682#issue-602951524 #2811

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b344fd9
add test to check gazebo model generated by assimp4, see https://gith…
k-okada Aug 4, 2020
e070098
Length of polylist <p> is not the number of inputs (i.e. VERTEX and N…
k-okada Aug 4, 2020
b05a7e3
fix typo, style, remove comments
k-okada Aug 11, 2020
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6 changes: 5 additions & 1 deletion gazebo/common/ColladaLoader.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -1595,8 +1595,12 @@ void ColladaLoader::LoadPolylist(TiXmlElement *_polylistXml,
polylistInputXml = polylistInputXml->NextSiblingElement("input");
}

std::set<int> totalInputs;
for (const auto &input : inputs)
inputSize += input.second.size();
{
totalInputs.insert(input.second.begin(), input.second.end());
}
inputSize += totalInputs.size();

// read vcount
// break poly into triangles
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30 changes: 30 additions & 0 deletions test/integration/collada_visualization.cc
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Expand Up @@ -50,5 +50,35 @@ void ColladaVisualization::MultipleTextureCoordinates()
delete mainWindow;
}

/////////////////////////////////////////////////
void ColladaVisualization::AssimpVersion4MultipleInputWithSameOffset()
{
this->resMaxPercentChange = 5.0;
this->shareMaxPercentChange = 2.0;

this->Load("worlds/multiple_input_with_same_offset_test.world",
false, false, false);

gazebo::gui::MainWindow *mainWindow = new gazebo::gui::MainWindow();
QVERIFY(mainWindow != NULL);

// Create the main window.
mainWindow->Load();
mainWindow->Init();
mainWindow->show();

// Get the user camera and scene
gazebo::rendering::UserCameraPtr cam = gazebo::gui::get_active_camera();
QVERIFY(cam != NULL);

this->ProcessEventsAndDraw(mainWindow);

// There should be two triangles.
QCOMPARE(cam->TriangleCount(), 24u);

mainWindow->close();
delete mainWindow;
}

// Generate a main function for the test
QTEST_MAIN(ColladaVisualization)
4 changes: 4 additions & 0 deletions test/integration/collada_visualization.hh
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Expand Up @@ -28,6 +28,10 @@ class ColladaVisualization : public QTestFixture
/// \brief Test loading a collada mesh that has multiple texture
/// coordinates
private slots: void MultipleTextureCoordinates();

/// \brief Test loading a collada mesh that has multiple inputs
/// with same offset, see https://github.com/osrf/gazebo/issues/2682
void AssimpVersion4MultipleInputWithSameOffset();
};

#endif
89 changes: 89 additions & 0 deletions test/media/models/box-assimp-3.dae
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@@ -0,0 +1,89 @@
<?xml version="1.0"?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Assimp</author>
<authoring_tool>Assimp Collada Exporter</authoring_tool>
</contributor>
<created>2020-08-02T13:13:20</created>
<modified>2020-08-02T13:13:20</modified>
<unit name="meter" meter="1" />
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="m0DefaultMaterial-fx" name="m0DefaultMaterial">
<profile_COMMON>
<technique sid="common">
<phong>
<ambient>
<color sid="ambient">0.05 0.05 0.05 1</color>
</ambient>
<diffuse>
<color sid="diffuse">0.6 0.6 0.6 1</color>
</diffuse>
<specular>
<color sid="specular">0.6 0.6 0.6 1</color>
</specular>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="m0DefaultMaterial" name="m0DefaultMaterial">
<instance_effect url="#m0DefaultMaterial-fx"/>
</material>
</library_materials>
<library_geometries>
<geometry id="meshId0" name="meshId0_name" >
<mesh>
<source id="meshId0-positions" name="meshId0-positions">
<float_array id="meshId0-positions-array" count="108"> -0.5 -0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 </float_array>
<technique_common>
<accessor count="36" offset="0" source="#meshId0-positions-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<source id="meshId0-normals" name="meshId0-normals">
<float_array id="meshId0-normals-array" count="108"> 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 </float_array>
<technique_common>
<accessor count="36" offset="0" source="#meshId0-normals-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<vertices id="meshId0-vertices">
<input semantic="POSITION" source="#meshId0-positions" />
<input semantic="NORMAL" source="#meshId0-normals" />
</vertices>
<polylist count="12" material="theresonlyone">
<input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 </p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_visual_scenes>
<visual_scene id="Scene" name="Scene">
<node id="AssimpScene" name="AssimpScene">
<matrix>1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#meshId0">
<bind_material>
<technique_common>
<instance_material symbol="theresonlyone" target="#m0DefaultMaterial" />
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#Scene" />
</scene>
</COLLADA>
92 changes: 92 additions & 0 deletions test/media/models/box-assimp-4.dae
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@@ -0,0 +1,92 @@
<?xml version="1.0" encoding="UTF-8" standalone="no" ?>
<COLLADA xmlns="http://www.collada.org/2005/11/COLLADASchema" version="1.4.1">
<asset>
<contributor>
<author>Assimp</author>
<authoring_tool>Assimp Exporter</authoring_tool>
</contributor>
<created>2020-08-02T13:05:04</created>
<modified>2020-08-02T13:05:04</modified>
<unit name="meter" meter="1" />
<up_axis>Y_UP</up_axis>
</asset>
<library_effects>
<effect id="DefaultMaterial-fx" name="DefaultMaterial">
<profile_COMMON>
<technique sid="standard">
<phong>
<ambient>
<color sid="ambient">1 1 1 1</color>
</ambient>
<diffuse>
<color sid="diffuse">1 1 1 1</color>
</diffuse>
<specular>
<color sid="specular">1 1 1 1</color>
</specular>
</phong>
</technique>
</profile_COMMON>
</effect>
</library_effects>
<library_materials>
<material id="DefaultMaterial" name="DefaultMaterial">
<instance_effect url="#DefaultMaterial-fx"/>
</material>
</library_materials>
<library_geometries>
<geometry id="meshId0" name="meshId0_name" >
<mesh>
<source id="meshId0-positions" name="meshId0-positions">
<float_array id="meshId0-positions-array" count="108"> -0.5 -0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 0.5 0.5 0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 0.5 0.5 0.5 0.5 -0.5 0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 0.5 -0.5 0.5 0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 0.5 0.5 -0.5 0.5 -0.5 -0.5 0.5 -0.5 -0.5 -0.5 -0.5 -0.5 -0.5 0.5 </float_array>
<technique_common>
<accessor count="36" offset="0" source="#meshId0-positions-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<source id="meshId0-normals" name="meshId0-normals">
<float_array id="meshId0-normals-array" count="108"> 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 1 0 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 -1 0 0 </float_array>
<technique_common>
<accessor count="36" offset="0" source="#meshId0-normals-array" stride="3">
<param name="X" type="float" />
<param name="Y" type="float" />
<param name="Z" type="float" />
</accessor>
</technique_common>
</source>
<vertices id="meshId0-vertices">
<input semantic="POSITION" source="#meshId0-positions" />
</vertices>
<polylist count="12" material="defaultMaterial">
<input offset="0" semantic="VERTEX" source="#meshId0-vertices" />
<input offset="0" semantic="NORMAL" source="#meshId0-normals" />
<vcount>3 3 3 3 3 3 3 3 3 3 3 3 </vcount>
<p>0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 </p>
</polylist>
</mesh>
</geometry>
</library_geometries>
<library_controllers>
</library_controllers>
<library_visual_scenes>
<visual_scene id="" name="">
<node id="AssimpScene" name="AssimpScene" type="NODE">
<matrix sid="matrix">1 0 0 0 0 1 0 0 0 0 1 0 0 0 0 1</matrix>
<instance_geometry url="#meshId0">
<bind_material>
<technique_common>
<instance_material symbol="defaultMaterial" target="#DefaultMaterial">
</instance_material>
</technique_common>
</bind_material>
</instance_geometry>
</node>
</visual_scene>
</library_visual_scenes>
<scene>
<instance_visual_scene url="#" />
</scene>
</COLLADA>
45 changes: 45 additions & 0 deletions test/worlds/multiple_input_with_same_offset_test.world
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<?xml version="1.0" ?>
<sdf version="1.6">
<world name="default">

<include>
<uri>model://sun</uri>
</include>

<!-- <scene> -->
<!-- <background>0 0 0 1</background> -->
<!-- <ambient>1 1 1 1</ambient> -->
<!-- <grid>false</grid> -->
<!-- <origin_visual>false</origin_visual> -->
<!-- </scene> -->

<gui>
<camera name="user">
<pose>-15 0 15 0 0.785398 0</pose>
</camera>
</gui>

<model name="model">
<static>true</static>
<link name="link">
<visual name="visual-assimp-3">
<pose>0 5 0.5 0 0 0</pose>
<geometry>
<mesh>
<uri>file://media/models/box-assimp-3.dae</uri>
</mesh>
</geometry>
</visual>
<visual name="visual-assimp-4">
<pose>0 -5 0.5 0 0 0</pose>
<geometry>
<mesh>
<uri>file://media/models/box-assimp-4.dae</uri>
</mesh>
</geometry>
</visual>
</link>
</model>

</world>
</sdf>