Merge branch 'main' into mjcarroll/bzlmod

gazebosim · Jul 19, 2024 · 3ccb259 · 3ccb259
2 parents 5cde0e5 + 3930407
commit 3ccb259
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diff --git a/.github/workflows/macos.yml b/.github/workflows/macos.yml
@@ -1,29 +1,37 @@
 name: macOS latest
 
-on: [push, pull_request]
+on:
+  pull_request:
+  push:
+    branches:
+      - 'ign-common[0-9]'
+      - 'gz-common[0-9]'
+      - 'main'
 
 jobs:
   build:
     env:
       PACKAGE: gz-common6
     runs-on: macos-latest
     steps:
-    - uses: actions/checkout@v2
+    - uses: actions/checkout@v4
     - name: Set up Homebrew
       id: set-up-homebrew
       uses: Homebrew/actions/setup-homebrew@master
     - run: brew config
+    - run: brew list
 
     # Workaround for https://github.com/actions/setup-python/issues/577
     - name: Clean up python binaries
       run: |
-        rm -f /usr/local/bin/2to3*;
-        rm -f /usr/local/bin/idle3*;
-        rm -f /usr/local/bin/pydoc3*;
-        rm -f /usr/local/bin/python3*;
-        rm -f /usr/local/bin/python3*-config;
-
+        rm -f $(brew --prefix)/bin/2to3*;
+        rm -f $(brew --prefix)/bin/idle3*;
+        rm -f $(brew --prefix)/bin/pydoc3*;
+        rm -f $(brew --prefix)/bin/python3*;
+        rm -f $(brew --prefix)/bin/python3*-config;
     - name: Install base dependencies
+      env:
+        HOMEBREW_NO_INSTALLED_DEPENDENTS_CHECK: 1
       run: |
         brew tap osrf/simulation;
         # check for ci_matching_branch
@@ -45,7 +53,7 @@ jobs:
     - run: mkdir build
     - name: cmake
       working-directory: build
-      run: cmake .. -DCMAKE_INSTALL_PREFIX=/usr/local/Cellar/${PACKAGE}/HEAD
+      run: cmake .. -DCMAKE_INSTALL_PREFIX=$(brew --prefix)/Cellar/${PACKAGE}/HEAD
     - run: make
       working-directory: build
     # Run make install before make test so that the package will be available to

diff --git a/.github/workflows/package_xml.yml b/.github/workflows/package_xml.yml
@@ -0,0 +1,11 @@
+name: Validate package.xml
+
+on:
+  pull_request:
+
+jobs:
+  package-xml:
+    runs-on: ubuntu-latest
+    name: Validate package.xml
+    steps:
+      - uses: gazebo-tooling/action-gz-ci/validate_package_xml@jammy
diff --git a/Changelog.md b/Changelog.md
@@ -4,6 +4,23 @@
 
 ## Gazebo Common 5.x
 
+## Gazebo Common 5.6.0 (2024-04-23)
+
+1. Clarify units for the DEM classes
+    * [Pull request #595](https://github.com/gazebosim/gz-common/pull/595)
+
+1. Remove pessimizing move
+    * [Pull request #593](https://github.com/gazebosim/gz-common/pull/593)
+
+1. Fix bazel build
+    * [Pull request #592](https://github.com/gazebosim/gz-common/pull/592)
+
+1. Add new function in MeshManager to merge all submeshes of a mesh into one
+    * [Pull request #588](https://github.com/gazebosim/gz-common/pull/588)
+
+1. Adds new function in MeshManager for performing convex decomposition
+    * [Pull request #585](https://github.com/gazebosim/gz-common/pull/585)
+
 ## Gazebo Common 5.5.1 (2024-03-14)
 
 1. Various Bazel adjustments for linting

diff --git a/av/src/AudioDecoder.cc b/av/src/AudioDecoder.cc
@@ -52,7 +52,13 @@ common::AudioDecoder::Implementation::~Implementation()
 {
   // Close the codec
   if (this->codecCtx)
+  {
+#if LIBAVFORMAT_VERSION_MAJOR < 59
     avcodec_close(this->codecCtx);
+#else
+    avcodec_free_context(&this->codecCtx);
+#endif
+  }
 
   // Close the audio file
   if (this->formatCtx)

diff --git a/av/src/Video.cc b/av/src/Video.cc
@@ -114,7 +114,11 @@ void Video::Cleanup()
   avformat_close_input(&this->dataPtr->formatCtx);
 
   // Close the codec
+#if LIBAVCODEC_VERSION_INT >= AV_VERSION_INT(57, 48, 101)
+  avcodec_free_context(&this->dataPtr->codecCtx);
+#else
   avcodec_close(this->dataPtr->codecCtx);
+#endif
 
   av_free(this->dataPtr->avFrameDst);
 }

diff --git a/geospatial/include/gz/common/geospatial/Dem.hh b/geospatial/include/gz/common/geospatial/Dem.hh
@@ -58,8 +58,8 @@ namespace gz
       public: int Load(const std::string &_filename = "");
 
       /// \brief Get the elevation of a terrain's point in meters.
-      /// \param[in] _x X coordinate of the terrain.
-      /// \param[in] _y Y coordinate of the terrain.
+      /// \param[in] _x X coordinate of the terrain in raster coordinates.
+      /// \param[in] _y Y coordinate of the terrain in raster coordinates.
       /// \return Terrain's elevation at (x,y) in meters or infinity if illegal
       /// coordinates were provided.
       public: double Elevation(double _x, double _y);

diff --git a/geospatial/include/gz/common/geospatial/HeightmapData.hh b/geospatial/include/gz/common/geospatial/HeightmapData.hh
@@ -37,7 +37,7 @@ namespace gz
       /// Ex: A subsampling of 2 in a terrain of 129x129 means that the height
       /// vector will be 257 * 257.
       /// \param[in] _vertSize Number of points per row.
-      /// \param[in] _size Real dimmensions of the terrain.
+      /// \param[in] _size Real dimensions of the terrain.
       /// \param[in] _scale Vector3 used to scale the height.
       /// \param[in] _flipY If true, it inverts the order in which the vector
       /// is filled.
@@ -48,11 +48,11 @@ namespace gz
           std::vector<float> &_heights) const = 0;
 
       /// \brief Get the terrain's height.
-      /// \return The terrain's height.
+      /// \return The terrain's height [pixels].
       public: virtual unsigned int Height() const = 0;
 
       /// \brief Get the terrain's width.
-      /// \return The terrain's width.
+      /// \return The terrain's width [pixels].
       public: virtual unsigned int Width() const = 0;
 
       /// \brief Get the maximum terrain's elevation.

diff --git a/graphics/src/AssimpLoader.cc b/graphics/src/AssimpLoader.cc
@@ -15,7 +15,9 @@
  *
  */
 
+#include <cstddef>
 #include <queue>
+#include <string>
 #include <unordered_set>
 
 #include "gz/common/graphics/Types.hh"
@@ -69,10 +71,12 @@ class AssimpLoader::Implementation
   /// \param[in] _scene the assimp scene
   /// \param[in] _matIdx index of the material in the scene
   /// \param[in] _path path where the mesh is located
+  /// \param[in] _fileBaseName Base name of the mesh file.
   /// \return pointer to the converted common::Material
-  public: MaterialPtr CreateMaterial(const aiScene* _scene,
+  public: MaterialPtr CreateMaterial(const aiScene *_scene,
                                      unsigned _matIdx,
-                                     const std::string& _path) const;
+                                     const std::string &_path,
+                                     const std::string &_fileBaseName) const;
 
   /// \brief Load a texture embedded in a mesh (i.e. for GLB format)
   /// into a gz::common::Image
@@ -82,13 +86,15 @@ class AssimpLoader::Implementation
 
   /// \brief Utility function to generate a texture name for both embedded
   /// and external textures
+  /// \param[in] _prefix Prefix to add to the texture name
   /// \param[in] _scene the assimp scene
   /// \param[in] _mat the assimp material
   /// \param[in] _type the type of texture (i.e. Diffuse, Metal)
   /// \return the generated texture name
-  public: std::string GenerateTextureName(const aiScene* _scene,
-                                          aiMaterial*  _mat,
-                                          const std::string& _type) const;
+  public: std::string GenerateTextureName(const std::string &_prefix,
+                                          const aiScene* _scene,
+                                          aiMaterial *_mat,
+                                          const std::string &_type) const;
 
   /// \brief Function to parse texture information and load it if embedded
   /// \param[in] _scene the assimp scene
@@ -320,7 +326,8 @@ void AssimpLoader::Implementation::RecursiveSkeletonCreate(const aiNode* _node,
 
 //////////////////////////////////////////////////
 MaterialPtr AssimpLoader::Implementation::CreateMaterial(
-    const aiScene* _scene, unsigned _matIdx, const std::string& _path) const
+    const aiScene *_scene, unsigned _matIdx, const std::string &_path,
+    const std::string &_fileBaseName) const
 {
   MaterialPtr mat = std::make_shared<Material>();
   aiColor4D color;
@@ -386,8 +393,8 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
   if (ret == AI_SUCCESS)
   {
     // Check if the texture is embedded or not
-    auto [texName, texData] = this->LoadTexture(_scene,
-        texturePath, this->GenerateTextureName(_scene, assimpMat, "Diffuse"));
+    auto [texName, texData] = this->LoadTexture(_scene, texturePath,
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat, "Diffuse"));
     if (texData != nullptr)
       mat->SetTextureImage(texName, texData);
     else
@@ -421,18 +428,19 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
   if (ret == AI_SUCCESS)
   {
     auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-        this->GenerateTextureName(_scene, assimpMat, "MetallicRoughness"));
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+        "MetallicRoughness"));
     // Load it into a common::Image then split it
     auto texImg = texData != nullptr ? texData :
       std::make_shared<Image>(joinPaths(_path, texName));
     auto [metalTexture, roughTexture] =
       this->SplitMetallicRoughnessMap(*texImg);
     pbr.SetMetalnessMap(
-        this->GenerateTextureName(_scene, assimpMat, "Metalness"),
-        metalTexture);
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+        "Metalness"), metalTexture);
     pbr.SetRoughnessMap(
-        this->GenerateTextureName(_scene, assimpMat, "Roughness"),
-        roughTexture);
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+        "Roughness"), roughTexture);
   }
   else
   {
@@ -441,15 +449,17 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
     if (ret == AI_SUCCESS)
     {
       auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-          this->GenerateTextureName(_scene, assimpMat, "Metalness"));
+          this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+          "Metalness"));
       pbr.SetMetalnessMap(texName, texData);
     }
     ret = assimpMat->GetTexture(
         aiTextureType_DIFFUSE_ROUGHNESS, 0, &texturePath);
     if (ret == AI_SUCCESS)
     {
       auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-          this->GenerateTextureName(_scene, assimpMat, "Roughness"));
+          this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+          "Roughness"));
       pbr.SetRoughnessMap(texName, texData);
     }
     // Load lightmap only if it is not a glb/glTF mesh that contains a
@@ -464,7 +474,8 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
     if (ret == AI_SUCCESS)
     {
       auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-          this->GenerateTextureName(_scene, assimpMat, "Lightmap"));
+          this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+          "Lightmap"));
       pbr.SetLightMap(texName, uvIdx, texData);
     }
   }
@@ -473,15 +484,16 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
   if (ret == AI_SUCCESS)
   {
     auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-        this->GenerateTextureName(_scene, assimpMat, "Normal"));
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat, "Normal"));
     // TODO(luca) different normal map spaces
     pbr.SetNormalMap(texName, NormalMapSpace::TANGENT, texData);
   }
   ret = assimpMat->GetTexture(aiTextureType_EMISSIVE, 0, &texturePath);
   if (ret == AI_SUCCESS)
   {
     auto [texName, texData] = this->LoadTexture(_scene, texturePath,
-        this->GenerateTextureName(_scene, assimpMat, "Emissive"));
+        this->GenerateTextureName(_fileBaseName, _scene, assimpMat,
+        "Emissive"));
     pbr.SetEmissiveMap(texName, texData);
   }
 #ifndef GZ_ASSIMP_PRE_5_2_0
@@ -600,15 +612,16 @@ ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
 
 //////////////////////////////////////////////////
 std::string AssimpLoader::Implementation::GenerateTextureName(
-    const aiScene* _scene, aiMaterial* _mat, const std::string& _type) const
+    const std::string &_prefix, const aiScene *_scene, aiMaterial *_mat,
+    const std::string &_type) const
 {
 #ifdef GZ_ASSIMP_PRE_5_2_0
   auto rootName = _scene->mRootNode->mName;
 #else
   auto rootName = _scene->mName;
 #endif
-  return ToString(rootName) + "_" + ToString(_mat->GetName()) +
-    "_" + _type;
+  return _prefix + "_" + ToString(rootName) + "_" +
+    ToString(_mat->GetName()) + "_" + _type;
 }
 
 //////////////////////////////////////////////////
@@ -695,12 +708,18 @@ Mesh *AssimpLoader::Load(const std::string &_filename)
   }
   auto& rootNode = scene->mRootNode;
   auto rootName = ToString(rootNode->mName);
-
-  // compute assimp root node transform
-  std::string extension = _filename.substr(_filename.rfind(".") + 1,
-      _filename.size());
+  auto fileBaseName = common::basename(_filename);
+  std::string extension;
+  std::size_t extIdx = _filename.rfind(".");
+  if (extIdx != std::string::npos)
+  {
+    extension = _filename.substr(extIdx + 1, _filename.size());
+    fileBaseName = fileBaseName.substr(0, fileBaseName.rfind(extension) - 1);
+  }
   std::transform(extension.begin(), extension.end(),
       extension.begin(), ::tolower);
+
+  // compute assimp root node transform
   bool useIdentityRotation = (extension != "glb" && extension != "glTF");
   auto transform = this->dataPtr->UpdatedRootNodeTransform(scene,
     useIdentityRotation);
@@ -709,7 +728,8 @@ Mesh *AssimpLoader::Load(const std::string &_filename)
   // Add the materials first
   for (unsigned _matIdx = 0; _matIdx < scene->mNumMaterials; ++_matIdx)
   {
-    auto mat = this->dataPtr->CreateMaterial(scene, _matIdx, path);
+    auto mat = this->dataPtr->CreateMaterial(scene, _matIdx, path,
+        fileBaseName);
     mesh->AddMaterial(mat);
   }
   // Create the skeleton

diff --git a/graphics/src/AssimpLoader_TEST.cc b/graphics/src/AssimpLoader_TEST.cc
@@ -721,9 +721,9 @@ TEST_F(AssimpLoader, LoadGlTF2BoxWithJPEGTexture)
   // Assimp 5.2.0 and above uses the scene name for its texture names,
   // older version use the root node instead.
 #ifdef GZ_ASSIMP_PRE_5_2_0
-  EXPECT_EQ("Cube_Material_Diffuse", mat->TextureImage());
+  EXPECT_EQ("box_texture_jpg_Cube_Material_Diffuse", mat->TextureImage());
 #else
-  EXPECT_EQ("Scene_Material_Diffuse", mat->TextureImage());
+  EXPECT_EQ("box_texture_jpg_Scene_Material_Diffuse", mat->TextureImage());
 #endif
   EXPECT_NE(nullptr, mat->TextureData());
   delete mesh;

diff --git a/package.xml b/package.xml
@@ -0,0 +1,28 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>gz-common6</name>
+  <version>6.0.0</version>
+  <description>Gazebo Common : AV, Graphics, Events, and much more.</description>
+  <maintainer email="[email protected]">Nate Koenig</maintainer>
+  <license>Apache License 2.0</license>
+  <url type="website">https://github.com/gazebosim/gz-common</url>
+
+  <buildtool_depend>cmake</buildtool_depend>
+  <buildtool_depend>pkg-config</buildtool_depend>
+
+  <build_depend>gz-cmake4</build_depend>
+
+  <depend>assimp-dev</depend>
+  <depend>ffmpeg-dev</depend>
+  <depend>gz-math8</depend>
+  <depend>gz-utils3</depend>
+  <depend>libfreeimage-dev</depend>
+  <depend>libgdal-dev</depend>
+  <depend>libgts</depend>
+  <depend>tinyxml2</depend>
+  <depend>uuid</depend>
+
+  <export>
+    <build_type>cmake</build_type>
+  </export>
+</package>