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Formatter wants to say something??
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@mosra
mosra committed Dec 17, 2024
1 parent 227db3b commit 7c160ae
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Showing 4 changed files with 47 additions and 38 deletions.
4 changes: 1 addition & 3 deletions src/esp/bindings/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -54,9 +54,7 @@ target_link_libraries(
PUBLIC habitat_sim
)
if(BUILD_ASSIMP_SUPPORT)
target_link_libraries(
habitat_sim_bindings PUBLIC MagnumPlugins::AssimpImporter
)
target_link_libraries(habitat_sim_bindings PUBLIC MagnumPlugins::AssimpImporter)
endif()

if(BUILD_WITH_AUDIO)
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4 changes: 1 addition & 3 deletions src/utils/datatool/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -34,7 +34,5 @@ target_link_libraries(
MagnumPlugins::UfbxImporter
)
if(BUILD_ASSIMP_SUPPORT)
target_link_libraries(
datatool PUBLIC MagnumPlugins::AssimpImporter
)
target_link_libraries(datatool PUBLIC MagnumPlugins::AssimpImporter)
endif()
54 changes: 35 additions & 19 deletions src/utils/datatool/SceneLoader.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -24,8 +24,8 @@
#include <Magnum/MeshTools/Transform.h>
#include <Magnum/SceneTools/Hierarchy.h>
#include <Magnum/Trade/AbstractImporter.h>
#include <Magnum/Trade/SceneData.h>
#include <Magnum/Trade/MeshData.h>
#include <Magnum/Trade/SceneData.h>

namespace Cr = Corrade;
namespace Mn = Magnum;
Expand All @@ -44,9 +44,10 @@ SceneLoader::SceneLoader()
MeshData SceneLoader::load(const AssetInfo& info) {
MeshData mesh;

Cr::Containers::Pointer<Importer> importer = importerManager_.loadAndInstantiate("AnySceneImporter");
Cr::Containers::Pointer<Importer> importer =
importerManager_.loadAndInstantiate("AnySceneImporter");
ESP_CHECK(importer && importer->openFile(info.filepath),
"Error opening" << info.filepath);
"Error opening" << info.filepath);

if (info.type == metadata::attributes::AssetType::InstanceMesh) {
// dummy colormap
Expand Down Expand Up @@ -74,8 +75,9 @@ MeshData SceneLoader::load(const AssetInfo& info) {
/* Get all meshes */
Cr::Containers::Array<Mn::Trade::MeshData> meshes;
Cr::Containers::Optional<Mn::Trade::MeshData> meshData;
for(Mn::UnsignedInt i = 0; i != importer->meshCount(); ++i) {
Cr::Containers::Optional<Mn::Trade::MeshData> meshData = importer->mesh(i);
for (Mn::UnsignedInt i = 0; i != importer->meshCount(); ++i) {
Cr::Containers::Optional<Mn::Trade::MeshData> meshData =
importer->mesh(i);
ESP_CHECK(meshData, "Error loading mesh data from" << info.filepath);
arrayAppend(meshes, *std::move(meshData));
}
Expand All @@ -84,44 +86,58 @@ MeshData SceneLoader::load(const AssetInfo& info) {
Cr::Containers::Optional<Mn::Trade::SceneData> scene = importer->scene(0);
ESP_CHECK(scene, "Error loading scene data from" << info.filepath);

Cr::Containers::Array<Cr::Containers::Pair<Mn::UnsignedInt, Cr::Containers::Pair<Mn::UnsignedInt, Mn::Int>>> meshesMaterials = scene->meshesMaterialsAsArray();
Cr::Containers::Array<Cr::Containers::Pair<
Mn::UnsignedInt, Cr::Containers::Pair<Mn::UnsignedInt, Mn::Int>>>
meshesMaterials = scene->meshesMaterialsAsArray();
/* Add an extra transform to align to habitat's gravity. Keeping the
original Eigen expression just to avoid some silly error, worthy of a
future cleanup. */
const quatf alignSceneToEspGravityEigen =
quatf::FromTwoVectors(info.frame.gravity(), esp::geo::ESP_GRAVITY);
const Mn::Matrix4 alignSceneToEspGravity = Mn::Matrix4::from(Mn::Quaternion{alignSceneToEspGravityEigen}.toMatrix(), {});
Cr::Containers::Array<Mn::Matrix4> transformations = Mn::SceneTools::absoluteFieldTransformations3D(*scene, Mn::Trade::SceneField::Mesh, alignSceneToEspGravity);
const Mn::Matrix4 alignSceneToEspGravity = Mn::Matrix4::from(
Mn::Quaternion{alignSceneToEspGravityEigen}.toMatrix(), {});
Cr::Containers::Array<Mn::Matrix4> transformations =
Mn::SceneTools::absoluteFieldTransformations3D(
*scene, Mn::Trade::SceneField::Mesh, alignSceneToEspGravity);

/* Apply those transforms to meshes, concatenate them all together */
Cr::Containers::Array<Mn::Trade::MeshData> flattenedMeshes;
for(std::size_t i = 0; i != meshesMaterials.size(); ++i) {
arrayAppend(flattenedMeshes, Mn::MeshTools::transform3D(
meshes[meshesMaterials[i].second().first()], transformations[i]));
for (std::size_t i = 0; i != meshesMaterials.size(); ++i) {
arrayAppend(
flattenedMeshes,
Mn::MeshTools::transform3D(
meshes[meshesMaterials[i].second().first()], transformations[i]));
}
Mn::Trade::MeshData concatenated = Mn::MeshTools::concatenate(flattenedMeshes);
Mn::Trade::MeshData concatenated =
Mn::MeshTools::concatenate(flattenedMeshes);

/* Extract data from the nice and tidy Magnum MeshData into a bunch of STL
vectors, worthy of a future cleanup as well */
{
mesh.vbo.resize(concatenated.vertexCount());
concatenated.positions3DInto(Cr::Containers::arrayCast<Mn::Vector3>(Cr::Containers::arrayView(mesh.vbo)));
concatenated.positions3DInto(Cr::Containers::arrayCast<Mn::Vector3>(
Cr::Containers::arrayView(mesh.vbo)));
}
if(concatenated.hasAttribute(Mn::Trade::MeshAttribute::Normal)) {
if (concatenated.hasAttribute(Mn::Trade::MeshAttribute::Normal)) {
mesh.nbo.resize(concatenated.vertexCount());
concatenated.normalsInto(Cr::Containers::arrayCast<Mn::Vector3>(Cr::Containers::arrayView(mesh.nbo)));
concatenated.normalsInto(Cr::Containers::arrayCast<Mn::Vector3>(
Cr::Containers::arrayView(mesh.nbo)));
}
if(concatenated.hasAttribute(Mn::Trade::MeshAttribute::TextureCoordinates)) {
if (concatenated.hasAttribute(
Mn::Trade::MeshAttribute::TextureCoordinates)) {
mesh.tbo.resize(concatenated.vertexCount());
concatenated.textureCoordinates2DInto(Cr::Containers::arrayCast<Mn::Vector2>(Cr::Containers::arrayView(mesh.tbo)));
concatenated.textureCoordinates2DInto(
Cr::Containers::arrayCast<Mn::Vector2>(
Cr::Containers::arrayView(mesh.tbo)));
}
if(concatenated.hasAttribute(Mn::Trade::MeshAttribute::Color)) {
if (concatenated.hasAttribute(Mn::Trade::MeshAttribute::Color)) {
mesh.cbo.resize(concatenated.vertexCount());
/* The colors are generally four-component, copy just the first 3
components */
Cr::Containers::Array<Mn::Color4> colors = concatenated.colorsAsArray();
Cr::Utility::copy(stridedArrayView(colors).slice(&Mn::Color4::rgb),
Cr::Containers::arrayCast<Mn::Color3>(Cr::Containers::arrayView(mesh.cbo)));
Cr::Containers::arrayCast<Mn::Color3>(
Cr::Containers::arrayView(mesh.cbo)));
}
}

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23 changes: 10 additions & 13 deletions src/utils/viewer/viewer.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -208,12 +208,11 @@ class Viewer : public Mn::Platform::Application {
private:
// Keys for moving/looking are recorded according to whether they are
// currently being pressed
std::map<Key, bool> keysPressed = {
{Key::Left, false}, {Key::Right, false},
{Key::Up, false}, {Key::Down, false},
{Key::A, false}, {Key::D, false},
{Key::S, false}, {Key::W, false},
{Key::X, false}, {Key::Z, false}};
std::map<Key, bool> keysPressed = {{Key::Left, false}, {Key::Right, false},
{Key::Up, false}, {Key::Down, false},
{Key::A, false}, {Key::D, false},
{Key::S, false}, {Key::W, false},
{Key::X, false}, {Key::Z, false}};

MouseInteractionMode mouseInteractionMode = LOOK;

Expand Down Expand Up @@ -1901,8 +1900,8 @@ void Viewer::pointerPressEvent(PointerEvent& event) {

// Read the object Id - takes unscaled mouse position, and scales it in
// objectPicker
unsigned int pickedObject =
objectPickingHelper_->getObjectId(Mn::Vector2i{event.position()}, windowSize());
unsigned int pickedObject = objectPickingHelper_->getObjectId(
Mn::Vector2i{event.position()}, windowSize());

// if an object is selected, create a visualizer
createPickedObjectVisualizer(pickedObject);
Expand Down Expand Up @@ -2174,9 +2173,8 @@ void Viewer::keyPressEvent(KeyEvent& event) {
setSceneInstanceFromListAndShow(curSceneInstanceIDX_);
} else {
ESP_DEBUG() << "Cycling to"
<< ((event.modifiers() & Modifier::Shift)
? "previous"
: "next")
<< ((event.modifiers() & Modifier::Shift) ? "previous"
: "next")
<< "SceneInstance";
setSceneInstanceFromListAndShow(getNextSceneInstanceIDX(
(event.modifiers() & Modifier::Shift) ? -1 : 1));
Expand Down Expand Up @@ -2330,8 +2328,7 @@ void Viewer::keyPressEvent(KeyEvent& event) {

// add an ArticulatedObject from provided filepath
std::string ArtObjConfigFilepath;
if (event.modifiers() & Modifier::Shift &&
!cachedAOConfig_.empty()) {
if (event.modifiers() & Modifier::Shift && !cachedAOConfig_.empty()) {
// quick-reload the most recently loaded URDF
ESP_WARNING() << "Articulated Object config quick-reload: "
<< cachedAOConfig_;
Expand Down

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