Support for Gazebo materials (#2269)

* test script tag Signed-off-by: Dharini Dutia <[email protected]> * add dark grey before creating component Signed-off-by: Dharini Dutia <[email protected]> * material parser Signed-off-by: Dharini Dutia <[email protected]> * linters Signed-off-by: Dharini Dutia <[email protected]> * Update src/rendering/MaterialParser/MaterialParser.cc Co-authored-by: Alejandro Hernández Cordero <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> * fix configLoader, material struct and feedback Signed-off-by: Dharini Dutia <[email protected]> * default color and todos Signed-off-by: Dharini Dutia <[email protected]> * install/load one file, range based loop, hardcode dependent solid colors Signed-off-by: Dharini Dutia <[email protected]> * fix install_dir property Signed-off-by: Dharini Dutia <[email protected]> * credits, initializing cleanup Signed-off-by: Dharini Dutia <[email protected]> * eof Signed-off-by: Dharini Dutia <[email protected]> * reformat Signed-off-by: Dharini Dutia <[email protected]> * add integration test Signed-off-by: Dharini Dutia <[email protected]> * migration note Signed-off-by: Dharini Dutia <[email protected]> * intends, default case, invalid color Signed-off-by: Dharini Dutia <[email protected]> * optional materialValues, typo Signed-off-by: Dharini Dutia <[email protected]> * feedback Signed-off-by: Dharini Dutia <[email protected]> * size check Signed-off-by: Dharini Dutia <[email protected]> * get color values Signed-off-by: Dharini Dutia <[email protected]> * migration doc update Signed-off-by: Dharini Dutia <[email protected]> --------- Signed-off-by: Dharini Dutia <[email protected]> Signed-off-by: Dharini Dutia <[email protected]> Co-authored-by: Alejandro Hernández Cordero <[email protected]>
gazebosim · Jan 12, 2024 · c6aaaf2 · c6aaaf2
1 parent 82969d5
commit c6aaaf2
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Showing 12 changed files with 2,832 additions and 11 deletions.
diff --git a/include/gz/sim/InstallationDirectories.hh b/include/gz/sim/InstallationDirectories.hh
@@ -50,6 +50,9 @@ namespace gz
 
     /// \brief getWorldInstallDir return the world install dir
     GZ_SIM_VISIBLE std::string getWorldInstallDir();
+
+    /// \brief getMediaInstallDir return the media install dir
+    GZ_SIM_VISIBLE std::string getMediaInstallDir();
     }
   }
 }

diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
@@ -60,6 +60,11 @@ set(cli_sources
   cmd/ModelCommandAPI.cc
 )
 
+set(material_sources
+  rendering/MaterialParser/MaterialParser.cc
+  rendering/MaterialParser/ConfigLoader.cc
+)
+
 set (sources
   Actor.cc
   Barrier.cc
@@ -92,6 +97,7 @@ set (sources
   ${network_sources}
   ${comms_sources}
   ${msgs_sources}
+  ${material_sources}
 )
 
 set (gtest_sources
@@ -200,7 +206,9 @@ set_property(
   GZ_SIM_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins"
   GZ_SIM_GUI_PLUGIN_RELATIVE_INSTALL_DIR="${GZ_LIB_INSTALL_DIR}/gz-${GZ_DESIGNATION}-${PROJECT_VERSION_MAJOR}/plugins/gui"
   GZ_SIM_WORLD_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/worlds"
+  GZ_SIM_MEDIA_RELATIVE_INSTALL_DIR="${GZ_DATA_INSTALL_DIR}/media"
 )
+install(FILES "rendering/MaterialParser/gazebo.material" DESTINATION ${GZ_DATA_INSTALL_DIR}/media)
 
 target_link_libraries(${PROJECT_LIBRARY_TARGET_NAME}
   PUBLIC

diff --git a/src/InstallationDirectories.cc b/src/InstallationDirectories.cc
@@ -62,6 +62,12 @@ std::string getWorldInstallDir()
       getInstallPrefix(), GZ_SIM_WORLD_RELATIVE_INSTALL_DIR);
 }
 
+std::string getMediaInstallDir()
+{
+  return gz::common::joinPaths(
+      getInstallPrefix(), GZ_SIM_MEDIA_RELATIVE_INSTALL_DIR);
+}
+
 }
 }
 }
diff --git a/src/SdfEntityCreator.cc b/src/SdfEntityCreator.cc
@@ -84,6 +84,8 @@
 #include "gz/sim/components/WindMode.hh"
 #include "gz/sim/components/World.hh"
 
+#include "rendering/MaterialParser/MaterialParser.hh"
+
 class gz::sim::SdfEntityCreatorPrivate
 {
   /// \brief Pointer to entity component manager. We don't assume ownership.
@@ -103,6 +105,9 @@ class gz::sim::SdfEntityCreatorPrivate
   /// \brief Keep track of new visuals being added, so we load their plugins
   /// only after we have their scoped name.
   public: std::map<Entity, sdf::Plugins> newVisuals;
+
+  /// \brief Parse Gazebo defined materials for visuals
+  public: MaterialParser materialParser;
 };
 
 using namespace gz;
@@ -193,6 +198,7 @@ SdfEntityCreator::SdfEntityCreator(EntityComponentManager &_ecm,
 {
   this->dataPtr->ecm = &_ecm;
   this->dataPtr->eventManager = &_eventManager;
+  this->dataPtr->materialParser.Load();
 }
 
 /////////////////////////////////////////////////
@@ -788,8 +794,47 @@ Entity SdfEntityCreator::CreateEntities(const sdf::Visual *_visual)
   // \todo(louise) Populate with default material if undefined
   if (_visual->Material())
   {
+    sdf::Material visualMaterial = *_visual->Material();
+    if (!_visual->Material()->ScriptUri().empty())
+    {
+      gzwarn << "Gazebo does not support Ogre material scripts. See " <<
+      "https://gazebosim.org/api/sim/8/migrationsdf.html#:~:text=Materials " <<
+      "for details." << std::endl;
+      std::string scriptUri = visualMaterial.ScriptUri();
+      if (scriptUri != "file://media/materials/scripts/gazebo.material") {
+        gzwarn << "Custom material scripts are not supported."
+          << std::endl;
+      }
+    }
+    if (!_visual->Material()->ScriptName().empty())
+    {
+      std::string scriptName = visualMaterial.ScriptName();
+
+      if ((scriptName.find("Gazebo/") == 0u))
+      {
+        gzwarn << "Using an internal gazebo.material to parse "
+          << scriptName << std::endl;
+        std::optional<MaterialParser::MaterialValues> parsed =
+          this->dataPtr->materialParser.GetMaterialValues(scriptName);
+
+        if(parsed.has_value())
+        {
+          visualMaterial.SetAmbient
+            (parsed->ambient.value_or(visualMaterial.Ambient()));
+          visualMaterial.SetDiffuse
+            (parsed->diffuse.value_or(visualMaterial.Diffuse()));
+          visualMaterial.SetSpecular
+            (parsed->specular.value_or(visualMaterial.Specular()));
+        }
+        else
+        {
+          gzwarn << "Material " << scriptName <<
+            " not recognized or supported, using default." << std::endl;
+        }
+      }
+    }
     this->dataPtr->ecm->CreateComponent(visualEntity,
-        components::Material(*_visual->Material()));
+        components::Material(visualMaterial));
   }
 
   // store the plugin in a component