Use assimp for loading meshes (#393)

Signed-off-by: Luca Della Vedova <[email protected]>
Signed-off by: Onur Berk Tore [email protected]
Signed-off-by: Louise Poubel <[email protected]>
Signed-off-by: Michael Carroll <[email protected]>

Co-authored-by: Onur Berk Töre <[email protected]>
Co-authored-by: Michael Carroll <[email protected]>
Co-authored-by: Louise Poubel <[email protected]>

.github/ci/packages.apt

@@ -1,3 +1,4 @@
+libassimp-dev
 libavcodec-dev
 libavdevice-dev
 libavformat-dev

CMakeLists.txt

@@ -122,6 +122,10 @@ gz_find_package(AVCODEC REQUIRED_BY av PRETTY libavcodec)
 # Find avutil
 gz_find_package(AVUTIL REQUIRED_BY av PRETTY libavutil)
 
+#------------------------------------
+# Find assimp
+gz_find_package(GzAssimp REQUIRED_BY graphics PRETTY assimp)
+
 
 message(STATUS "-------------------------------------------\n")
 

graphics/include/gz/common/AssimpLoader.hh

@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_COMMON_ASSIMPLOADER_HH_
+#define GZ_COMMON_ASSIMPLOADER_HH_
+
+#include <string>
+#include <gz/common/graphics/Export.hh>
+#include <gz/common/MeshLoader.hh>
+
+#include <gz/utils/ImplPtr.hh>
+
+namespace gz
+{
+ namespace common
+ {
+ /// \class AssimpLoader AssimpLoader.hh gz/common/AssimpLoader.hh
+ /// \brief Class used to load mesh files using the assimp lodaer
+ class GZ_COMMON_GRAPHICS_VISIBLE AssimpLoader : public MeshLoader
+ {
+ /// \brief Constructor
+ public: AssimpLoader();
+
+ /// \brief Destructor
+ public: virtual ~AssimpLoader();
+
+ /// \brief Load a mesh
+ /// \param[in] _filename Mesh file to load
+ /// \return Pointer to a new Mesh
+ public: virtual Mesh *Load(const std::string &_filename) override;
+
+ /// \internal
+ /// \brief Pointer to private data.
+ GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+ };
+ }
+}
+#endif

graphics/include/gz/common/Material.hh

@@ -24,6 +24,7 @@
 #include <gz/math/Color.hh>
 #include <gz/common/graphics/Export.hh>
 #include <gz/common/EnumIface.hh>
+#include <gz/common/Image.hh>
 #include <gz/common/Pbr.hh>
 
 #include <gz/utils/ImplPtr.hh>
@@ -102,15 +103,22 @@ namespace gz
 
  /// \brief Set a texture image
  /// \param[in] _tex The name of the texture, which must be in the
- /// resource path
- public: void SetTextureImage(const std::string &_tex);
+ /// resource path or its name if _img is provided
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
+ public: void SetTextureImage(const std::string &_tex,
+ const std::shared_ptr<const Image> &_img = nullptr);
 
  /// \brief Set a texture image
  /// \param[in] _tex The name of the texture
  /// \param[in] _resourcePath Path which contains _tex
  public: void SetTextureImage(const std::string &_tex,
  const std::string &_resourcePath);
 
+ /// \brief Gets the texture image, if the texture was loaded from memory
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> TextureData() const;
+
  /// \brief Get a texture image
  /// \return The name of the texture image (if one exists) or an empty
  /// string

graphics/include/gz/common/MeshManager.hh

@@ -45,7 +45,11 @@ namespace gz
  class SubMesh;
 
  /// \class MeshManager MeshManager.hh gz/common/MeshManager.hh
- /// \brief Maintains and manages all meshes
+ /// \brief Maintains and manages all meshes. Supported mesh formats are
+ /// STL (STLA, STLB), COLLADA, OBJ, GLTF (GLB) and FBX. By default only GLTF
+ /// and FBX are loaded using assimp loader, however if GZ_MESH_FORCE_ASSIMP
+ /// environment variable is set, then MeshManager will use assimp loader for
+ /// all supported mesh formats.
  class GZ_COMMON_GRAPHICS_VISIBLE MeshManager
  : public SingletonT<MeshManager>
  {
@@ -240,8 +244,12 @@ namespace gz
  const gz::math::Vector2d &_segments,
  const gz::math::Vector2d &_uvTile);
 
+ /// \brief Sets the forceAssimp flag by reading the GZ_MESH_FORCE_ASSIMP
+ /// environment variable. If forceAssimp true, MeshManager uses Assimp
+ /// for loading all mesh formats, otherwise only for GLTF and FBX.
+ public: void SetAssimpEnvs();
+
  /// \brief Tesselate a 2D mesh
- ///
  /// Makes a zigzag pattern compatible with strips
  /// \param[in] _sm the mesh to tesselate
  /// \param[in] _meshWith mesh width

graphics/include/gz/common/Pbr.hh

@@ -17,11 +17,13 @@
 #ifndef GZ_COMMON_PBR_HH_
 #define GZ_COMMON_PBR_HH_
 
+#include <memory>
 #include <string>
 
 #include <gz/utils/ImplPtr.hh>
 
 #include <gz/common/graphics/Export.hh>
+#include <gz/common/Image.hh>
 
 namespace gz
 {
@@ -84,12 +86,20 @@ namespace common
  /// has not been specified.
  public: std::string NormalMap() const;
 
+ /// \brief Gets the normal map data,
+ /// if the texture was loaded from memory, otherwise a nullptr
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> NormalMapData() const;
+
  /// \brief Set the normal map filename.
  /// \param[in] _map Filename of the normal map.
  /// \param[in] _space Space that the normal map is defined in.
  /// Defaults to tangent space.
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
  public: void SetNormalMap(const std::string &_map,
- NormalMapSpace _space = NormalMapSpace::TANGENT);
+ NormalMapSpace _space = NormalMapSpace::TANGENT,
+ const std::shared_ptr<const Image> &_img = nullptr);
 
  /// \brief Get the normal map type, either tangent or object space
  /// \return Space that the normal map is defined in
@@ -123,7 +133,15 @@ namespace common
 
  /// \brief Set the roughness map filename for metal workflow.
  /// \param[in] _map Filename of the roughness map.
- public: void SetRoughnessMap(const std::string &_map);
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
+ public: void SetRoughnessMap(const std::string &_map,
+ const std::shared_ptr<const Image> &_img = nullptr);
+
+ /// \brief Gets the roughness map data,
+ /// if the texture was loaded from memory, otherwise a nullptr
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> RoughnessMapData() const;
 
  /// \brief Get the metalness map filename for metal workflow. This will be
  /// an empty string if a metalness map has not been set.
@@ -133,7 +151,15 @@ namespace common
 
  /// \brief Set the metalness map filename for metal workflow.
  /// \param[in] _map Filename of the metalness map.
- public: void SetMetalnessMap(const std::string &_map);
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
+ public: void SetMetalnessMap(const std::string &_map,
+ const std::shared_ptr<const Image> &_img = nullptr);
+
+ /// \brief Gets the metalness map data,
+ /// if the texture was loaded from memory, otherwise a nullptr
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> MetalnessMapData() const;
 
  /// \brief Get the emissive map filename. This will be an empty string
  /// if an emissive map has not been set.
@@ -143,18 +169,34 @@ namespace common
 
  /// \brief Set the emissive map filename.
  /// \param[in] _map Filename of the emissive map.
- public: void SetEmissiveMap(const std::string &_map);
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
+ public: void SetEmissiveMap(const std::string &_map,
+ const std::shared_ptr<const Image> &_img = nullptr);
+
+ /// \brief Gets the emissive map data,
+ /// if the texture was loaded from memory, otherwise a nullptr
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> EmissiveMapData() const;
 
  /// \brief Get the light map filename. This will be an empty string
  /// if an light map has not been set.
  /// \return Filename of the light map, or empty string if a light
  /// map has not been specified.
  public: std::string LightMap() const;
 
+ /// \brief Gets the light map data,
+ /// if the texture was loaded from memory, otherwise a nullptr
+ /// \return A pointer to the image that was loaded from memory
+ public: std::shared_ptr<const Image> LightMapData() const;
+
  /// \brief Set the light map filename.
  /// \param[in] _map Filename of the light map.
  /// \param[in] _uvSet Index of the texture coordinate set
- public: void SetLightMap(const std::string &_map, unsigned int _uvSet = 0u);
+ /// \param[in] _img The image containing the texture if image has been
+ /// loaded in memory
+ public: void SetLightMap(const std::string &_map, unsigned int _uvSet = 0u,
+ const std::shared_ptr<const Image> &_img = nullptr);
 
  /// \brief Get the light map texture coordinate set.
  /// \return Index of the light map texture coordinate set