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Rotate capsule to Z-up (#186)
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Signed-off-by: Louise Poubel <louise@openrobotics.org>
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@chapulina
chapulina authored Mar 22, 2021
1 parent 2b4ad72 commit d36a0fa
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Showing 3 changed files with 37 additions and 30 deletions.
4 changes: 2 additions & 2 deletions graphics/include/ignition/common/MeshManager.hh
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Original file line number Diff line number Diff line change
Expand Up @@ -167,9 +167,9 @@ namespace ignition
/// \brief Create a capsule mesh
/// \param[in] _name the name of the new mesh
/// \param[in] _radius the radius of the capsule in the x y plane
/// \param[in] _length length of the body
/// \param[in] _length length of the capsule along z
/// \param[in] _rings the number of circles along the height
/// \param[in] _segments the number of segment per circle
/// \param[in] _segments the number of segments per circle
public: void CreateCapsule(const std::string &_name,
const double radius,
const double length,
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59 changes: 33 additions & 26 deletions graphics/src/MeshManager.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -919,7 +919,8 @@ void MeshManager::CreateCapsule(const std::string &_name,

SubMesh subMesh;

// Based on https://github.com/godotengine/godot primitive_meshes.cpp
// Based on https://github.com/godotengine/godot/blob/3.2.3-stable/scene/resources/primitive_meshes.cpp
// Rotated to be Z-up
int prevRow, thisRow, point;
double x, y, z, u, v, w;
const double oneThird = 1.0 / 3.0;
Expand All @@ -930,31 +931,33 @@ void MeshManager::CreateCapsule(const std::string &_name,
/* top hemisphere */
thisRow = 0;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
for (unsigned int j = 0; j <= (_rings + 1); j++)
{
v = j;

v /= (_rings + 1);
w = sin(0.5 * IGN_PI * v);
y = _radius * cos(0.5 * IGN_PI * v);
z = _radius * cos(0.5 * IGN_PI * v);

for (unsigned int i = 0; i <= _segments; i++) {
for (unsigned int i = 0; i <= _segments; i++)
{
u = i;
u /= _segments;

x = -sin(u * (IGN_PI * 2.0));
z = cos(u * (IGN_PI * 2.0));
y = cos(u * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius * w, y, -z * _radius * w);
ignition::math::Vector3d p(x * _radius * w, y * _radius * w, z);
// Compute vertex
subMesh.AddVertex(ignition::math::Vector3d(
p + ignition::math::Vector3d(0.0, 0.5 * _length, 0.0)));
p + ignition::math::Vector3d(0.0, 0.0, 0.5 * _length)));
subMesh.AddTexCoord({u, v * oneThird});
subMesh.AddNormal(p.Normalize());

point++;

if (i > 0 && j > 0) {
if (i > 0 && j > 0)
{
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);
Expand All @@ -971,30 +974,32 @@ void MeshManager::CreateCapsule(const std::string &_name,
/* cylinder */
thisRow = point;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
for (unsigned int j = 0; j <= (_rings + 1); j++)
{
v = j;
v /= (_rings + 1);

y = _length * v;
y = (_length * 0.5) - y;
z = _length * v;
z = (_length * 0.5) - z;

for (unsigned int i = 0; i <= _segments; i++) {
for (unsigned int i = 0; i <= _segments; i++)
{
u = i;
u /= _segments;

x = -sin(u * (IGN_PI * 2.0));
z = cos(u * (IGN_PI * 2.0));
y = cos(u * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius, y, -z * _radius);
ignition::math::Vector3d p(x * _radius, y * _radius, z);

// Compute vertex
subMesh.AddVertex(p);
subMesh.AddTexCoord({u, oneThird + (v * oneThird)});
subMesh.AddNormal(ignition::math::Vector3d(x, 0.0, -z));
subMesh.AddNormal(ignition::math::Vector3d(x, y, 0.0));
point++;

if (i > 0 && j > 0) {
if (i > 0 && j > 0)
{
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);
Expand All @@ -1011,31 +1016,33 @@ void MeshManager::CreateCapsule(const std::string &_name,
/* bottom hemisphere */
thisRow = point;
prevRow = 0;
for (unsigned int j = 0; j <= (_rings + 1); j++) {
for (unsigned int j = 0; j <= (_rings + 1); j++)
{
v = j;

v /= (_rings + 1);
v += 1.0;
w = sin(0.5 * IGN_PI * v);
y = _radius * cos(0.5 * IGN_PI * v);
z = _radius * cos(0.5 * IGN_PI * v);

for (unsigned int i = 0; i <= _segments; i++) {
for (unsigned int i = 0; i <= _segments; i++)
{
double u2 = static_cast<double>(i);
u2 /= _segments;

x = -sin(u2 * (IGN_PI * 2.0));
z = cos(u2 * (IGN_PI * 2.0));
y = cos(u2 * (IGN_PI * 2.0));

ignition::math::Vector3d p(
x * _radius * w, y, -z * _radius * w);
ignition::math::Vector3d p(x * _radius * w, y * _radius * w, z);
// Compute vertex
subMesh.AddVertex(ignition::math::Vector3d(
p + ignition::math::Vector3d(0.0, -0.5 * _length, 0.0)));
p + ignition::math::Vector3d(0.0, 0.0, -0.5 * _length)));
subMesh.AddTexCoord({u2, twoThirds + ((v - 1.0) * oneThird)});
subMesh.AddNormal(p.Normalize());
point++;

if (i > 0 && j > 0) {
if (i > 0 && j > 0)
{
subMesh.AddIndex(thisRow + i - 1);
subMesh.AddIndex(prevRow + i);
subMesh.AddIndex(prevRow + i - 1);
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4 changes: 2 additions & 2 deletions graphics/src/SubMesh_TEST.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -421,7 +421,7 @@ TEST_F(SubMeshTest, Volume)
checkIndexes(unitEllipsoid2);

// The new mesh should have more vertex, but it should be introduced in the
// meshmanager. It should be the same number becuase it was not modified.
// meshmanager. It should be the same number because it was not modified.
EXPECT_EQ(unitEllipsoid->VertexCount(), unitEllipsoid2->VertexCount());

// A larger cylinder needs to have higher resolution in order to get the
Expand Down Expand Up @@ -452,7 +452,7 @@ TEST_F(SubMeshTest, Volume)
common::MeshManager::Instance()->MeshByName("capsule");

// the new mesh should have more vertex, but it should be introduced in the
// meshmanager. It should be the same number becuase it was not modified.
// meshmanager. It should be the same number because it was not modified.
EXPECT_EQ(unitCapsule->VertexCount(), unitCapsule2->VertexCount());

common::MeshManager::Instance()->CreateCapsule("other_capsule",
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