Merge 6702594 into b0001bf

gazebosim · Nov 15, 2022 · 6d5f755 · 6d5f755
2 parents b0001bf + 6702594
commit 6d5f755
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diff --git a/graphics/src/AssimpLoader.cc b/graphics/src/AssimpLoader.cc
@@ -155,6 +155,14 @@ class AssimpLoader::Implementation
   /// calculated from the "old" parent model transform.
   /// \param[in] _skeleton the skeleton to work on
   public: void ApplyInvBindTransform(SkeletonPtr _skeleton) const;
+
+  /// \brief Sets the removeScene flag by reading the GZ_MESH_REMOVE_SCENE
+  /// environment variable. If removeScene true, Assimp loader
+  /// removes scene node from skeleton.
+  public: void SetRemoveSceneEnv();
+
+  /// \brief True if scene node is removed from the skeleton
+  public: bool removeScene;
 };
 
 //////////////////////////////////////////////////
@@ -735,5 +743,18 @@ void AssimpLoader::Implementation::ApplyInvBindTransform(
   }
 }
 
+//////////////////////////////////////////////////
+void AssimpLoader::Implementation::SetRemoveSceneEnv()
+{
+  std::string removeSceneEnv;
+  common::env("GZ_MESH_REMOVE_SCENE", removeSceneEnv);
+  this->removeScene = false;
+  if (removeSceneEnv == "true")
+  {
+    gzmsg << "Removing scene root node" << std::endl;
+    this->removeScene = true;
+  }
+}
+
 }
 }
diff --git a/graphics/src/AssimpLoader_TEST.cc b/graphics/src/AssimpLoader_TEST.cc
@@ -440,6 +440,7 @@ TEST_F(AssimpLoader, LoadBoxWithHierarchicalNodes)
 /////////////////////////////////////////////////
 TEST_F(AssimpLoader, MergeBoxWithDoubleSkeleton)
 {
+  common::setenv("GZ_MESH_REMOVE_SCENE", "false");
   common::AssimpLoader loader;
   common::Mesh *mesh = loader.Load(
       common::testing::TestFile("data", "box_with_double_skeleton.dae"));