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Support for Gazebo materials #2269

Merged
merged 21 commits into from
Jan 12, 2024
Merged

Support for Gazebo materials #2269

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4ca06fe
test script tag
quarkytale Dec 7, 2023
c6b08b8
add dark grey before creating component
quarkytale Dec 9, 2023
29dc2aa
material parser
quarkytale Dec 14, 2023
4d1b9c5
linters
quarkytale Dec 20, 2023
c165528
Update src/rendering/MaterialParser/MaterialParser.cc
quarkytale Dec 20, 2023
7e333f5
fix configLoader, material struct and feedback
quarkytale Dec 20, 2023
4158a72
default color and todos
quarkytale Dec 20, 2023
930e89f
install/load one file, range based loop, hardcode dependent solid colors
quarkytale Dec 21, 2023
ee844d9
fix install_dir property
quarkytale Dec 21, 2023
083c2dd
credits, initializing cleanup
quarkytale Dec 22, 2023
a83e86c
eof
quarkytale Dec 22, 2023
6941c1c
Merge branch 'gz-sim8' into quarkytale/material
quarkytale Dec 22, 2023
07415de
reformat
quarkytale Dec 27, 2023
f2e2f5f
add integration test
quarkytale Jan 1, 2024
7b08ebf
migration note
quarkytale Jan 2, 2024
7621715
intends, default case, invalid color
quarkytale Jan 4, 2024
26c61ca
optional materialValues, typo
quarkytale Jan 5, 2024
404ffef
feedback
quarkytale Jan 5, 2024
d768c85
size check
quarkytale Jan 9, 2024
ccad6bd
get color values
quarkytale Jan 10, 2024
5455d1e
migration doc update
quarkytale Jan 11, 2024
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3 changes: 3 additions & 0 deletions include/gz/sim/InstallationDirectories.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -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();
}
}
}
Expand Down
8 changes: 8 additions & 0 deletions src/CMakeLists.txt
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Expand Up @@ -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
Expand Down Expand Up @@ -92,6 +97,7 @@ set (sources
${network_sources}
${comms_sources}
${msgs_sources}
${material_sources}
)

set (gtest_sources
Expand Down Expand Up @@ -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
Expand Down
6 changes: 6 additions & 0 deletions src/InstallationDirectories.cc
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Expand Up @@ -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);
}

}
}
}
47 changes: 46 additions & 1 deletion src/SdfEntityCreator.cc
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Expand Up @@ -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.
Expand All @@ -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;
Expand Down Expand Up @@ -193,6 +198,7 @@ SdfEntityCreator::SdfEntityCreator(EntityComponentManager &_ecm,
{
this->dataPtr->ecm = &_ecm;
this->dataPtr->eventManager = &_eventManager;
this->dataPtr->materialParser.Load();
}

/////////////////////////////////////////////////
Expand Down Expand Up @@ -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 " <<
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does the #:~:text=Materials part work? It takes me to the migration page but not the Materials section.

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Its using text fragments, and mostly browser dependent. For me, it highlights and scrolls to the Material section but scrolls back up the page. Do you think it would be useful?

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@iche033 iche033 Jan 4, 2024 •
edited
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ah ok I thought it would jump to that section. Yes I see it highlighted. We can leave the text fragment here.

"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
Expand Down
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