update test

Signed-off-by: Ian Chen <[email protected]>
gazebosim · Jun 6, 2024 · 75a8081 · 75a8081
1 parent 778da6a
commit 75a8081
Show file tree

Hide file tree

Showing 2 changed files with 28 additions and 2 deletions.
diff --git a/src/Conversions.cc b/src/Conversions.cc
@@ -225,6 +225,10 @@ msgs::Geometry gz::sim::convert(const sdf::Geometry &_in)
       header->set_key("max_convex_hulls");
       header->add_value(std::to_string(
           meshSdf->ConvexDecomposition()->MaxConvexHulls()));
+      header = out.mutable_header()->add_data();
+      header->set_key("voxel_resolution");
+      header->add_value(std::to_string(
+          meshSdf->ConvexDecomposition()->VoxelResolution()));
     }
   }
   else if (_in.Type() == sdf::GeometryType::HEIGHTMAP && _in.HeightmapShape())
@@ -355,6 +359,8 @@ sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
     meshShape.SetSubmesh(_in.mesh().submesh());
     meshShape.SetCenterSubmesh(_in.mesh().center_submesh());
 
+    sdf::ConvexDecomposition convexDecomp;
+    bool setConvexDecomp = false;
     for (int i = 0; i < _in.header().data_size(); ++i)
     {
       auto data = _in.header().data(i);
@@ -364,11 +370,17 @@ sdf::Geometry gz::sim::convert(const msgs::Geometry &_in)
       }
       if (data.key() == "max_convex_hulls" && data.value_size() > 0)
       {
-        sdf::ConvexDecomposition convexDecomp;
         convexDecomp.SetMaxConvexHulls(std::stoul(data.value(0)));
-        meshShape.SetConvexDecomposition(convexDecomp);
+        setConvexDecomp = true;
+      }
+      if (data.key() == "voxel_resolution" && data.value_size() > 0)
+      {
+        convexDecomp.SetVoxelResolution(std::stoul(data.value(0)));
+        setConvexDecomp = true;
       }
     }
+    if (setConvexDecomp)
+      meshShape.SetConvexDecomposition(convexDecomp);
     out.SetMeshShape(meshShape);
   }
   else if (_in.type() == msgs::Geometry::HEIGHTMAP && _in.has_heightmap())

diff --git a/src/Conversions_TEST.cc b/src/Conversions_TEST.cc
@@ -464,6 +464,10 @@ TEST(Conversions, GeometryMesh)
   meshShape.SetSubmesh("grape");
   meshShape.SetCenterSubmesh(true);
   meshShape.SetOptimization("convex_decomposition");
+  sdf::ConvexDecomposition convexDecomp;
+  convexDecomp.SetMaxConvexHulls(4);
+  convexDecomp.SetVoxelResolution(10000);
+  meshShape.SetConvexDecomposition(convexDecomp);
   geometry.SetMeshShape(meshShape);
 
   auto geometryMsg = convert<msgs::Geometry>(geometry);
@@ -477,6 +481,12 @@ TEST(Conversions, GeometryMesh)
   auto header = geometryMsg.header().data(0);
   EXPECT_EQ("optimization", header.key());
   EXPECT_EQ("convex_decomposition", header.value(0));
+  header = geometryMsg.header().data(1);
+  EXPECT_EQ("max_convex_hulls", header.key());
+  EXPECT_EQ("4", header.value(0));
+  header = geometryMsg.header().data(2);
+  EXPECT_EQ("voxel_resolution", header.key());
+  EXPECT_EQ("10000", header.value(0));
 
   auto newGeometry = convert<sdf::Geometry>(geometryMsg);
   EXPECT_EQ(sdf::GeometryType::MESH, newGeometry.Type());
@@ -486,6 +496,10 @@ TEST(Conversions, GeometryMesh)
   EXPECT_EQ("grape", newGeometry.MeshShape()->Submesh());
   EXPECT_TRUE(newGeometry.MeshShape()->CenterSubmesh());
   EXPECT_EQ("convex_decomposition", newGeometry.MeshShape()->OptimizationStr());
+  auto newConvexDecomp = newGeometry.MeshShape()->ConvexDecomposition();
+  ASSERT_NE(nullptr, newConvexDecomp);
+  EXPECT_EQ(4, newConvexDecomp->MaxConvexHulls());
+  EXPECT_EQ(10000, newConvexDecomp->VoxelResolution());
 }
 
 /////////////////////////////////////////////////