Refactor: Utilizes function to load animations

include/ignition/gazebo/rendering/SceneManager.hh

@@ -21,6 +21,7 @@
 #include <map>
 #include <memory>
 #include <string>
+#include <unordered_map>
 #include <utility>
 #include <vector>
 
@@ -200,6 +201,12 @@ inline namespace IGNITION_GAZEBO_VERSION_NAMESPACE {
  /// \return Pointer to requested visual
  public: rendering::VisualPtr VisualById(Entity _id);
 
+ /// \brief Load Actor animations
+ /// \param[in] _actor Actor
+ /// \return Animation name to ID map
+ public: std::unordered_map<std::string, unsigned int>
+ LoadAnimations(const sdf::Actor &_actor);
+
  /// \brief Sequences Trajectories
  /// \param[in] _trajectories Actor trajectories
  /// \param[in] _time Actor trajectory delay start time (miliseconds)

src/rendering/SceneManager.cc

@@ -18,7 +18,6 @@
 
 #include <map>
 #include <memory>
-#include <unordered_map>
 
 #include <sdf/Box.hh>
 #include <sdf/Capsule.hh>
@@ -982,112 +981,11 @@ rendering::VisualPtr SceneManager::CreateActor(Entity _id,
  return rendering::VisualPtr();
  }
 
- unsigned int numAnims = 0;
- std::unordered_map<std::string, unsigned int> mapAnimNameId;
- mapAnimNameId[descriptor.meshName] = numAnims++;
-
  // Load all animations
- for (unsigned i = 0; i < _actor.AnimationCount(); ++i)
- {
- std::string animName = _actor.AnimationByIndex(i)->Name();
- std::string animFilename = asFullPath(
- _actor.AnimationByIndex(i)->Filename(),
- _actor.AnimationByIndex(i)->FilePath());
-
- double animScale = _actor.AnimationByIndex(i)->Scale();
-
- std::string extension = animFilename.substr(animFilename.rfind('.') + 1,
- animFilename.size());
- std::transform(extension.begin(), extension.end(),
- extension.begin(), ::tolower);
-
- if (extension == "bvh")
- {
- // do not add duplicate animation
- // start checking from index 1 since index 0 is reserved by skin mesh
- bool addAnim = true;
- for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a)
- {
- if (meshSkel->Animation(a)->Name() == animFilename)
- {
- addAnim = false;
- break;
- }
- }
- if (addAnim)
- meshSkel->AddBvhAnimation(animFilename, animScale);
- mapAnimNameId[animName] = numAnims++;
- }
- else if (extension == "dae")
- {
- // Load the mesh if it has not been loaded before
- const common::Mesh *animMesh = nullptr;
- if (!meshManager->HasMesh(animFilename))
- {
- animMesh = meshManager->Load(animFilename);
- if (animMesh->MeshSkeleton()->AnimationCount() > 1)
- {
- ignwarn << "File [" << animFilename
- << "] has more than one animation, but only the 1st one is used."
- << std::endl;
- }
- }
- animMesh = meshManager->MeshByName(animFilename);
-
- // add the first animation
- auto firstAnim = animMesh->MeshSkeleton()->Animation(0);
- if (nullptr == firstAnim)
- {
- ignerr << "Failed to get animations from [" << animFilename
- << "]" << std::endl;
- return nullptr;
- }
- // do not add duplicate animation
- // start checking from index 1 since index 0 is reserved by skin mesh
- bool addAnim = true;
- for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a)
- {
- if (meshSkel->Animation(a)->Name() == animName)
- {
- addAnim = false;
- break;
- }
- }
- if (addAnim)
- {
- // collada loader loads animations with name that defaults to
- // "animation0", "animation"1", etc causing conflicts in names
- // when multiple animations are added to meshSkel.
- // We have to clone the skeleton animation before giving it a unique
- // name otherwise if mulitple instances of the same animation were added
- // to meshSkel, changing the name that would also change the name of
- // other instances of the animation
- // todo(anyone) cloning is inefficient and error-prone. We should
- // add a copy constructor to animation classes in ign-common.
- // The proper fix is probably to update ign-rendering to allow it to
- // load multiple animations of the same name
- common::SkeletonAnimation *skelAnim =
- new common::SkeletonAnimation(animName);
- for (unsigned int j = 0; j < meshSkel->NodeCount(); ++j)
- {
- common::SkeletonNode *node = meshSkel->NodeByHandle(j);
- common::NodeAnimation *nodeAnim = firstAnim->NodeAnimationByName(
- node->Name());
- if (!nodeAnim)
- continue;
- for (unsigned int k = 0; k < nodeAnim->FrameCount(); ++k)
- {
- std::pair<double, math::Matrix4d> keyFrame = nodeAnim->KeyFrame(k);
- skelAnim->AddKeyFrame(
- node->Name(), keyFrame.first, keyFrame.second);
- }
- }
+ auto mapAnimNameId = this->LoadAnimations(_actor);
+ if (mapAnimNameId.size() == 0)
+ return nullptr;
 
- meshSkel->AddAnimation(skelAnim);
- }
- mapAnimNameId[animName] = numAnims++;
- }
- }
  this->dataPtr->actorSkeletons[_id] = meshSkel;
 
  std::vector<common::TrajectoryInfo> trajectories;
@@ -2336,3 +2234,123 @@ AnimationUpdateData SceneManagerPrivate::ActorTrajectoryAt(
  animData.valid = true;
  return animData;
 }
+
+std::unordered_map<std::string, unsigned int>
+SceneManager::LoadAnimations(const sdf::Actor &_actor)
+{
+ rendering::MeshDescriptor descriptor;
+ descriptor.meshName = asFullPath(_actor.SkinFilename(), _actor.FilePath());
+ common::MeshManager *meshManager = common::MeshManager::Instance();
+ descriptor.mesh = meshManager->Load(descriptor.meshName);
+ common::SkeletonPtr meshSkel = descriptor.mesh->MeshSkeleton();
+
+ unsigned int numAnims = 0;
+ std::unordered_map<std::string, unsigned int> mapAnimNameId;
+ mapAnimNameId[descriptor.meshName] = numAnims++;
+
+ // Load all animations
+ for (unsigned i = 0; i < _actor.AnimationCount(); ++i)
+ {
+ std::string animName = _actor.AnimationByIndex(i)->Name();
+ std::string animFilename = asFullPath(
+ _actor.AnimationByIndex(i)->Filename(),
+ _actor.AnimationByIndex(i)->FilePath());
+
+ double animScale = _actor.AnimationByIndex(i)->Scale();
+
+ std::string extension = animFilename.substr(animFilename.rfind('.') + 1,
+ animFilename.size());
+ std::transform(extension.begin(), extension.end(),
+ extension.begin(), ::tolower);
+
+ if (extension == "bvh")
+ {
+ // do not add duplicate animation
+ // start checking from index 1 since index 0 is reserved by skin mesh
+ bool addAnim = true;
+ for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a)
+ {
+ if (meshSkel->Animation(a)->Name() == animFilename)
+ {
+ addAnim = false;
+ break;
+ }
+ }
+ if (addAnim)
+ meshSkel->AddBvhAnimation(animFilename, animScale);
+ mapAnimNameId[animName] = numAnims++;
+ }
+ else if (extension == "dae")
+ {
+ // Load the mesh if it has not been loaded before
+ const common::Mesh *animMesh = nullptr;
+ if (!meshManager->HasMesh(animFilename))
+ {
+ animMesh = meshManager->Load(animFilename);
+ if (animMesh->MeshSkeleton()->AnimationCount() > 1)
+ {
+ ignwarn << "File [" << animFilename
+ << "] has more than one animation, "
+ << "but only the 1st one is used."
+ << std::endl;
+ }
+ }
+ animMesh = meshManager->MeshByName(animFilename);
+
+ // add the first animation
+ auto firstAnim = animMesh->MeshSkeleton()->Animation(0);
+ if (nullptr == firstAnim)
+ {
+ ignerr << "Failed to get animations from [" << animFilename
+ << "]" << std::endl;
+ mapAnimNameId.clear();
+ break;
+ }
+ // do not add duplicate animation
+ // start checking from index 1 since index 0 is reserved by skin mesh
+ bool addAnim = true;
+ for (unsigned int a = 1; a < meshSkel->AnimationCount(); ++a)
+ {
+ if (meshSkel->Animation(a)->Name() == animName)
+ {
+ addAnim = false;
+ break;
+ }
+ }
+ if (addAnim)
+ {
+ // collada loader loads animations with name that defaults to
+ // "animation0", "animation"1", etc causing conflicts in names
+ // when multiple animations are added to meshSkel.
+ // We have to clone the skeleton animation before giving it a unique
+ // name otherwise if mulitple instances of the same animation were added
+ // to meshSkel, changing the name that would also change the name of
+ // other instances of the animation
+ // todo(anyone) cloning is inefficient and error-prone. We should
+ // add a copy constructor to animation classes in ign-common.
+ // The proper fix is probably to update ign-rendering to allow it to
+ // load multiple animations of the same name
+ common::SkeletonAnimation *skelAnim =
+ new common::SkeletonAnimation(animName);
+ for (unsigned int j = 0; j < meshSkel->NodeCount(); ++j)
+ {
+ common::SkeletonNode *node = meshSkel->NodeByHandle(j);
+ common::NodeAnimation *nodeAnim = firstAnim->NodeAnimationByName(
+ node->Name());
+ if (!nodeAnim)
+ continue;
+ for (unsigned int k = 0; k < nodeAnim->FrameCount(); ++k)
+ {
+ std::pair<double, math::Matrix4d> keyFrame = nodeAnim->KeyFrame(k);
+ skelAnim->AddKeyFrame(
+ node->Name(), keyFrame.first, keyFrame.second);
+ }
+ }
+
+ meshSkel->AddAnimation(skelAnim);
+ }
+ mapAnimNameId[animName] = numAnims++;
+ }
+ }
+ return mapAnimNameId;
+}