Clone visuals and geometries (#397)

Signed-off-by: Ashton Larkin <ashton@openrobotics.org> Signed-off-by: Ian Chen <ichen@osrfoundation.org> Co-authored-by: Ian Chen <ichen@osrfoundation.org>
gazebosim · Sep 22, 2021 · 5bf8dc6 · 5bf8dc6
1 parent 064bdf5
commit 5bf8dc6
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Showing 18 changed files with 480 additions and 10 deletions.
diff --git a/include/ignition/rendering/Geometry.hh b/include/ignition/rendering/Geometry.hh
@@ -18,6 +18,7 @@
 #define IGNITION_RENDERING_GEOMETRY_HH_
 
 #include <string>
+
 #include "ignition/rendering/config.hh"
 #include "ignition/rendering/RenderTypes.hh"
 #include "ignition/rendering/Object.hh"
@@ -66,6 +67,10 @@ namespace ignition
       /// \brief Get the material of this geometry
       /// \return Material used by this geometry
       public: virtual MaterialPtr Material() const = 0;
+
+      /// \brief Clone the geometry.
+      /// \return The cloned geometry.
+      public: virtual GeometryPtr Clone() const = 0;
     };
     }
   }

diff --git a/include/ignition/rendering/Mesh.hh b/include/ignition/rendering/Mesh.hh
@@ -23,6 +23,7 @@
 #include <ignition/math/Matrix4.hh>
 #include "ignition/rendering/config.hh"
 #include "ignition/rendering/Geometry.hh"
+#include "ignition/rendering/MeshDescriptor.hh"
 #include "ignition/rendering/Object.hh"
 
 namespace ignition
@@ -119,6 +120,14 @@ namespace ignition
       /// \return The sub-mesh at the given index
       public: virtual SubMeshPtr SubMeshByIndex(
                   unsigned int _index) const = 0;
+
+      /// \brief Set the mesh's mesh descriptor
+      /// \return The mesh's mesh descriptor
+      public: virtual void SetDescriptor(const MeshDescriptor &_desc) = 0;
+
+      /// \brief Get the mesh's mesh descriptor
+      /// \return The mesh's mesh descriptor
+      public: virtual const MeshDescriptor &Descriptor() const = 0;
     };
 
     /// \class SubMesh Mesh.hh ignition/rendering/Mesh.hh

diff --git a/include/ignition/rendering/Visual.hh b/include/ignition/rendering/Visual.hh
@@ -104,7 +104,7 @@ namespace ignition
       /// \return the Pointer to the material assigned to this visual. If the
       /// material is cloned at the time it is set to this visual, the cloned
       /// material will be returned.
-      public: virtual MaterialPtr Material() = 0;
+      public: virtual MaterialPtr Material() const = 0;
 
       /// \brief Enable or disable wireframe
       /// \param[in] _show True to enable wireframe
@@ -142,6 +142,15 @@ namespace ignition
       /// \return The local bounding box
       public: virtual ignition::math::AxisAlignedBox LocalBoundingBox()
               const = 0;
+
+      /// \brief Clone the visual (and its children) with a new name.
+      /// \param[in] _name Name of the cloned Visual. Set this to an empty
+      /// string to auto-generate a unique name for the cloned visual.
+      /// \param[in] _newParent Parent of the cloned Visual. Set to nullptr if
+      /// the cloned visual should have no parent.
+      /// \return The visual. nullptr is returned if cloning failed.
+      public: virtual VisualPtr Clone(const std::string &_name,
+                  NodePtr _newParent) const = 0;
     };
     }
   }

diff --git a/include/ignition/rendering/base/BaseCapsule.hh b/include/ignition/rendering/base/BaseCapsule.hh
@@ -18,7 +18,10 @@
 #ifndef IGNITION_RENDERING_BASECAPSULE_HH_
 #define IGNITION_RENDERING_BASECAPSULE_HH_
 
+#include <ignition/common/Console.hh>
+
 #include "ignition/rendering/Capsule.hh"
+#include "ignition/rendering/Scene.hh"
 #include "ignition/rendering/base/BaseObject.hh"
 
 namespace ignition
@@ -50,6 +53,9 @@ namespace ignition
       // Documentation inherited
       public: virtual double Length() const override;
 
+      // Documentation inherited
+      public: virtual GeometryPtr Clone() const override;
+
       /// \brief Radius of the capsule
       protected: double radius = 0.5;
 
@@ -103,6 +109,30 @@ namespace ignition
     {
       return this->length;
     }
+
+    /////////////////////////////////////////////////
+    template <class T>
+    GeometryPtr BaseCapsule<T>::Clone() const
+    {
+      if (!this->Scene())
+      {
+        ignerr << "Cloning a Capsule failed because the capsule to be "
+          << "cloned does not belong to a scene.\n";
+        return nullptr;
+      }
+
+      auto result = this->Scene()->CreateCapsule();
+      if (result)
+      {
+        result->SetRadius(this->Radius());
+        result->SetLength(this->Length());
+
+        if (this->Material())
+          result->SetMaterial(this->Material());
+      }
+
+      return result;
+    }
     }
   }
 }

diff --git a/include/ignition/rendering/base/BaseGeometry.hh b/include/ignition/rendering/base/BaseGeometry.hh
@@ -18,6 +18,9 @@
 #define IGNITION_RENDERING_BASE_BASEGEOMETRY_HH_
 
 #include <string>
+
+#include <ignition/common/Console.hh>
+
 #include "ignition/rendering/Geometry.hh"
 #include "ignition/rendering/Scene.hh"
 
@@ -48,6 +51,9 @@ namespace ignition
       public: virtual void SetMaterial(MaterialPtr _material,
                   bool _unique = true) override = 0;
 
+      // Documentation inherited
+      public: virtual GeometryPtr Clone() const override;
+
       // Documentation inherited
       public: virtual void Destroy() override;
     };
@@ -89,6 +95,14 @@ namespace ignition
       if (material) this->SetMaterial(material, _unique);
     }
 
+    //////////////////////////////////////////////////
+    template <class T>
+    GeometryPtr BaseGeometry<T>::Clone() const
+    {
+      ignwarn << "Clone functionality for Geometry does not exist yet.\n";
+      return nullptr;
+    }
+
     //////////////////////////////////////////////////
     template <class T>
     void BaseGeometry<T>::Destroy()

diff --git a/include/ignition/rendering/base/BaseMesh.hh b/include/ignition/rendering/base/BaseMesh.hh
@@ -100,6 +100,15 @@ namespace ignition
 
       public: virtual void PreRender() override;
 
+      // Documentation inherited.
+      public: virtual GeometryPtr Clone() const override;
+
+      // Documentation inherited.
+      public: void SetDescriptor(const MeshDescriptor &_desc) override;
+
+      // Documentation inherited.
+      public: const MeshDescriptor &Descriptor() const override;
+
       // Documentation inherited
       public: virtual void Destroy() override;
 
@@ -111,6 +120,9 @@ namespace ignition
 
       /// \brief Pointer to currently assigned material
       protected: MaterialPtr material;
+
+      /// \brief MeshDescriptor for this mesh
+      protected: MeshDescriptor meshDescriptor;
     };
 
     //////////////////////////////////////////////////
@@ -315,6 +327,61 @@ namespace ignition
       T::PreRender();
     }
 
+    //////////////////////////////////////////////////
+    template <class T>
+    GeometryPtr BaseMesh<T>::Clone() const
+    {
+      if (!this->Scene())
+      {
+        ignerr << "Cloning a mesh failed because the mesh to be "
+          << "cloned does not belong to a scene.\n";
+        return nullptr;
+      }
+      else if (this->meshDescriptor.meshName.empty())
+      {
+        ignerr << "Cloning a geometry failed because the name of the mesh is "
+          << "missing.\n";
+        return nullptr;
+      }
+
+      auto result = this->Scene()->CreateMesh(this->meshDescriptor);
+      if (result)
+      {
+        if (this->Material())
+        {
+          // this call will set the material for the mesh and its submeshes
+          result->SetMaterial(this->Material());
+        }
+        else
+        {
+          // if the mesh doesn't have a material, clone any existing submesh
+          // materials
+          for (unsigned int i = 0; i < this->SubMeshCount(); ++i)
+          {
+            auto existingSubMeshMaterial = this->SubMeshByIndex(i)->Material();
+            if (existingSubMeshMaterial)
+              result->SubMeshByIndex(i)->SetMaterial(existingSubMeshMaterial);
+          }
+        }
+      }
+
+      return result;
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    const MeshDescriptor &BaseMesh<T>::Descriptor() const
+    {
+      return this->meshDescriptor;
+    }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    void BaseMesh<T>::SetDescriptor(const MeshDescriptor &_desc)
+    {
+      this->meshDescriptor = _desc;
+    }
+
     //////////////////////////////////////////////////
     template <class T>
     void BaseMesh<T>::Destroy()
@@ -324,6 +391,7 @@ namespace ignition
       if (this->material && this->ownsMaterial)
         this->Scene()->DestroyMaterial(this->material);
       this->material.reset();
+      this->meshDescriptor = MeshDescriptor();
     }
 
     //////////////////////////////////////////////////

diff --git a/include/ignition/rendering/base/BaseVisual.hh b/include/ignition/rendering/base/BaseVisual.hh
@@ -77,7 +77,7 @@ namespace ignition
                   bool _unique = true) override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() override;
+      public: virtual MaterialPtr Material() const override;
 
       // Documentation inherited.
       public: virtual void SetWireframe(bool _show) override;
@@ -114,6 +114,10 @@ namespace ignition
       public: virtual ignition::math::AxisAlignedBox LocalBoundingBox()
               const override;
 
+      // Documentation inherited.
+      public: virtual VisualPtr Clone(const std::string &_name,
+                  NodePtr _newParent) const override;
+
       protected: virtual void PreRenderChildren() override;
 
       protected: virtual void PreRenderGeometries();
@@ -293,7 +297,7 @@ namespace ignition
 
     //////////////////////////////////////////////////
     template <class T>
-    MaterialPtr BaseVisual<T>::Material()
+    MaterialPtr BaseVisual<T>::Material() const
     {
       return this->material;
     }
@@ -471,6 +475,74 @@ namespace ignition
     {
       return this->visibilityFlags;
     }
+
+    //////////////////////////////////////////////////
+    template <class T>
+    VisualPtr BaseVisual<T>::Clone(const std::string &_name,
+        NodePtr _newParent) const
+    {
+      ScenePtr scene_ = this->Scene();
+      if (nullptr == scene_)
+      {
+        ignerr << "Cloning a visual failed because the visual to be cloned is "
+          << "not attached to a scene.\n";
+        return nullptr;
+      }
+      VisualPtr result;
+      if (_name.empty())
+        result = scene_->CreateVisual();
+      else
+        result = scene_->CreateVisual(_name);
+
+      if (nullptr != _newParent)
+      {
+        auto parentScene = _newParent->Scene();
+        if (nullptr != parentScene && parentScene->Id() != scene_->Id())
+        {
+          ignerr << "Cloning a visual failed because the desired parent of the "
+            << "cloned visual belongs to a different scene.\n";
+          scene_->DestroyVisual(result);
+          return nullptr;
+        }
+        _newParent->AddChild(result);
+      }
+
+      result->SetOrigin(this->Origin());
+      result->SetInheritScale(this->InheritScale());
+      result->SetLocalScale(this->LocalScale());
+      result->SetLocalPose(this->LocalPose());
+      result->SetVisibilityFlags(this->VisibilityFlags());
+      result->SetWireframe(this->Wireframe());
+
+      // if the visual that was cloned has child visuals, clone those as well
+      auto children_ =
+          std::dynamic_pointer_cast<BaseStore<ignition::rendering::Node, T>>(
+          this->Children());
+      if (!children_)
+      {
+        ignerr << "Cast failed in BaseVisual::Clone\n";
+        scene_->DestroyVisual(result);
+        return nullptr;
+      }
+      for (auto it = children_->Begin(); it != children_->End(); ++it)
+      {
+        NodePtr child = it->second;
+        VisualPtr visual = std::dynamic_pointer_cast<Visual>(child);
+        if (nullptr != visual)
+          visual->Clone("", result);
+      }
+
+      for (unsigned int i = 0; i < this->GeometryCount(); ++i)
+        result->AddGeometry(this->GeometryByIndex(i)->Clone());
+
+      if (this->Material())
+        result->SetMaterial(this->Material());
+
+      for (const auto &[key, val] : this->userData)
+        result->SetUserData(key, val);
+
+      return result;
+    }
     }
   }
 }

diff --git a/ogre/include/ignition/rendering/ogre/OgreCOMVisual.hh b/ogre/include/ignition/rendering/ogre/OgreCOMVisual.hh
@@ -64,7 +64,7 @@ namespace ignition
       public: virtual VisualPtr SphereVisual() const override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: virtual MaterialPtr Material() const override;
 
       // Documentation inherited.
       public: virtual void SetMaterial(

diff --git a/ogre/include/ignition/rendering/ogre/OgreInertiaVisual.hh b/ogre/include/ignition/rendering/ogre/OgreInertiaVisual.hh
@@ -68,7 +68,7 @@ namespace ignition
       public: VisualPtr BoxVisual() const override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: virtual MaterialPtr Material() const override;
 
       // Documentation inherited.
       public: virtual void SetMaterial(

diff --git a/ogre/include/ignition/rendering/ogre/OgreLightVisual.hh b/ogre/include/ignition/rendering/ogre/OgreLightVisual.hh
@@ -61,7 +61,7 @@ namespace ignition
       public: void CreateVisual();
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: virtual MaterialPtr Material() const override;
 
       // Documentation inherited.
       public: virtual void SetMaterial(

diff --git a/ogre/src/OgreScene.cc b/ogre/src/OgreScene.cc
@@ -546,6 +546,7 @@ MeshPtr OgreScene::CreateMeshImpl(unsigned int _id, const std::string &_name,
   if (nullptr == mesh)
     return nullptr;
 
+  mesh->SetDescriptor(_desc);
   bool result = this->InitObject(mesh, _id, _name);
   return (result) ? mesh : nullptr;
 }

diff --git a/ogre2/include/ignition/rendering/ogre2/Ogre2COMVisual.hh b/ogre2/include/ignition/rendering/ogre2/Ogre2COMVisual.hh
@@ -62,7 +62,7 @@ namespace ignition
       public: virtual VisualPtr SphereVisual() const override;
 
       // Documentation inherited.
-      public: virtual MaterialPtr Material() const;
+      public: virtual MaterialPtr Material() const override;
 
       // Documentation inherited.
       public: virtual void SetMaterial(