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Minor cleanups
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Signed-off-by: Luca Della Vedova <[email protected]>
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@luca-della-vedova
luca-della-vedova committed Jul 27, 2022
1 parent 73001d1 commit 3f16e67
Showing 1 changed file with 29 additions and 33 deletions.
62 changes: 29 additions & 33 deletions graphics/src/AssimpLoader.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -15,7 +15,11 @@
*
*/

#include <queue>
#include <unordered_set>

#include "gz/common/graphics/Types.hh"
#include "gz/common/AssimpLoader.hh"
#include "gz/common/Console.hh"
#include "gz/common/Image.hh"
#include "gz/common/Material.hh"
Expand All @@ -25,19 +29,13 @@
#include "gz/common/SubMesh.hh"
#include "gz/common/SystemPaths.hh"
#include "gz/common/Util.hh"
#include "gz/common/AssimpLoader.hh"

#include <queue>
#include <unordered_set>

#include <assimp/DefaultLogger.hpp>
#include <assimp/Logger.hpp>
#ifndef ASSIMP_COMPATIBILITY
#include <assimp/GltfMaterial.h> // GLTF specific material properties
#endif
#include <assimp/Importer.hpp> // C++ importer interface
#include <assimp/scene.h> // Output data structure
#include <assimp/postprocess.h> // Post processing flags
#include <assimp/scene.h> // Output data structure

namespace gz
{
Expand All @@ -55,12 +53,12 @@ class AssimpLoader::Implementation
/// \brief Convert a color from assimp implementation to Ignition common
/// \param[in] _color the assimp color to convert
/// \return the matching math::Color
public: math::Color ConvertColor(aiColor4D& _color);
public: math::Color ConvertColor(aiColor4D& _color) const;

/// \brief Convert a matrix from assimp implementation to gz::Math
/// \param[in] _matrix the assimp matrix to convert
/// \return the converted math::Matrix4d
public: math::Matrix4d ConvertTransform(const aiMatrix4x4& _matrix);
public: math::Matrix4d ConvertTransform(const aiMatrix4x4& _matrix) const;

/// \brief Convert from assimp to gz::common::Material
/// \param[in] _scene the assimp scene
Expand All @@ -69,13 +67,13 @@ class AssimpLoader::Implementation
/// \return pointer to the converted common::Material
public: MaterialPtr CreateMaterial(const aiScene* _scene,
unsigned _matIdx,
const std::string& _path);
const std::string& _path) const;

/// \brief Load a texture embedded in a mesh (i.e. for GLB format)
/// into a gz::common::Image
/// \param[in] _texture the assimp texture object
/// \return Pointer to a common::Image containing the texture
public: ImagePtr LoadEmbeddedTexture(const aiTexture* _texture);
public: ImagePtr LoadEmbeddedTexture(const aiTexture* _texture) const;

/// \brief Utility function to generate a texture name for both embedded
/// and external textures
Expand All @@ -85,7 +83,7 @@ class AssimpLoader::Implementation
/// \return the generated texture name
public: std::string GenerateTextureName(const aiScene* _scene,
aiMaterial* _mat,
const std::string& _type);
const std::string& _type) const;

/// \brief Function to parse texture information and load it if embedded
/// \param[in] _scene the assimp scene
Expand All @@ -96,7 +94,7 @@ class AssimpLoader::Implementation
public: std::pair<std::string, ImagePtr>
LoadTexture(const aiScene* _scene,
const aiString& _texturePath,
const std::string& _textureName);
const std::string& _textureName) const;

/// \brief Function to split a gltf metallicroughness map into
/// a metalness and roughness map
Expand All @@ -111,7 +109,7 @@ class AssimpLoader::Implementation
/// \param[in] _transform the node transform for the mesh
/// \return the converted common::Submesh
public: SubMesh CreateSubMesh(const aiMesh* _assimpMesh,
const math::Matrix4d& _transform);
const math::Matrix4d& _transform) const;

/// \brief Recursively create submeshes scene starting from the root node
/// \param[in] _scene the assimp scene
Expand All @@ -121,7 +119,7 @@ class AssimpLoader::Implementation
public: void RecursiveCreate(const aiScene* _scene,
const aiNode* _node,
const math::Matrix4d& _transform,
Mesh* _mesh);
Mesh* _mesh) const;

/// \brief Recursively create the skeleton starting from the root node
/// \param[in] _node the node being processed
Expand All @@ -132,7 +130,7 @@ class AssimpLoader::Implementation
const aiNode* _node,
SkeletonNode* _parent,
const math::Matrix4d& _transform,
const std::unordered_set<std::string> &_boneNames);
const std::unordered_set<std::string> &_boneNames) const;

/// \brief Recursively store the bone names starting from the root node
/// to make sure that only nodes that map to a bone are added to the skeleton
Expand All @@ -142,7 +140,7 @@ class AssimpLoader::Implementation
public: void RecursiveStoreBoneNames(
const aiScene *_scene,
const aiNode* _node,
std::unordered_set<std::string>& _boneNames);
std::unordered_set<std::string>& _boneNames) const;

/// \brief Apply the the inv bind transform to the skeleton pose.
/// \remarks have to set the model transforms starting from the root in
Expand All @@ -151,7 +149,7 @@ class AssimpLoader::Implementation
/// child before the parent results in the child's transform being
/// calculated from the "old" parent model transform.
/// \param[in] _skeleton the skeleton to work on
public: void ApplyInvBindTransform(SkeletonPtr _skeleton);
public: void ApplyInvBindTransform(SkeletonPtr _skeleton) const;
};

//////////////////////////////////////////////////
Expand All @@ -162,15 +160,15 @@ static std::string ToString(const aiString& str)
}

//////////////////////////////////////////////////
math::Color AssimpLoader::Implementation::ConvertColor(aiColor4D& _color)
math::Color AssimpLoader::Implementation::ConvertColor(aiColor4D& _color) const
{
math::Color col(_color.r, _color.g, _color.b, _color.a);
return col;
}

//////////////////////////////////////////////////
math::Matrix4d AssimpLoader::Implementation::ConvertTransform(
const aiMatrix4x4& _sm)
const aiMatrix4x4& _sm) const
{
return math::Matrix4d(
_sm.a1, _sm.a2, _sm.a3, _sm.a4,
Expand All @@ -181,7 +179,7 @@ math::Matrix4d AssimpLoader::Implementation::ConvertTransform(

//////////////////////////////////////////////////
void AssimpLoader::Implementation::RecursiveCreate(const aiScene* _scene,
const aiNode* _node, const math::Matrix4d& _transform, Mesh* _mesh)
const aiNode* _node, const math::Matrix4d& _transform, Mesh* _mesh) const
{
if (!_node)
return;
Expand Down Expand Up @@ -252,7 +250,7 @@ void AssimpLoader::Implementation::RecursiveCreate(const aiScene* _scene,

void AssimpLoader::Implementation::RecursiveStoreBoneNames(
const aiScene *_scene, const aiNode *_node,
std::unordered_set<std::string>& _boneNames)
std::unordered_set<std::string>& _boneNames) const
{
if (!_node)
return;
Expand Down Expand Up @@ -280,13 +278,12 @@ void AssimpLoader::Implementation::RecursiveStoreBoneNames(
//////////////////////////////////////////////////
void AssimpLoader::Implementation::RecursiveSkeletonCreate(const aiNode* _node,
SkeletonNode* _parent, const math::Matrix4d& _transform,
const std::unordered_set<std::string> &_boneNames)
const std::unordered_set<std::string> &_boneNames) const
{
if (_node == nullptr || _parent == nullptr)
return;
// First explore this node
auto nodeName = ToString(_node->mName);
// TODO(luca) check if node or joint?
auto boneExist = _boneNames.find(nodeName) != _boneNames.end();
auto nodeTrans = this->ConvertTransform(_node->mTransformation);
auto skelNode = _parent;
Expand All @@ -309,7 +306,7 @@ void AssimpLoader::Implementation::RecursiveSkeletonCreate(const aiNode* _node,

//////////////////////////////////////////////////
MaterialPtr AssimpLoader::Implementation::CreateMaterial(
const aiScene* _scene, unsigned _matIdx, const std::string& _path)
const aiScene* _scene, unsigned _matIdx, const std::string& _path) const
{
MaterialPtr mat = std::make_shared<Material>();
aiColor4D color;
Expand Down Expand Up @@ -451,7 +448,7 @@ MaterialPtr AssimpLoader::Implementation::CreateMaterial(
std::pair<std::string, ImagePtr> AssimpLoader::Implementation::LoadTexture(
const aiScene* _scene,
const aiString& _texturePath,
const std::string& _textureName)
const std::string& _textureName) const
{
std::pair<std::string, ImagePtr> ret;
// Check if the texture is embedded or not
Expand Down Expand Up @@ -509,7 +506,7 @@ std::pair<ImagePtr, ImagePtr>

//////////////////////////////////////////////////
ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
const aiTexture* _texture)
const aiTexture* _texture) const
{
auto img = std::make_shared<Image>();
if (_texture->mHeight == 0)
Expand All @@ -526,14 +523,14 @@ ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(

//////////////////////////////////////////////////
std::string AssimpLoader::Implementation::GenerateTextureName(
const aiScene* _scene, aiMaterial* _mat, const std::string& _type)
const aiScene* _scene, aiMaterial* _mat, const std::string& _type) const
{
return ToString(_scene->mRootNode->mName) + "_" + ToString(_mat->GetName()) +
"_" + _type;
}

SubMesh AssimpLoader::Implementation::CreateSubMesh(
const aiMesh* _assimpMesh, const math::Matrix4d& _transform)
const aiMesh* _assimpMesh, const math::Matrix4d& _transform) const
{
SubMesh subMesh;
math::Matrix4d rot = _transform;
Expand Down Expand Up @@ -583,9 +580,6 @@ SubMesh AssimpLoader::Implementation::CreateSubMesh(
AssimpLoader::AssimpLoader()
: MeshLoader(), dataPtr(utils::MakeUniqueImpl<Implementation>())
{
// TODO(luca): remove logger from stdout
Assimp::DefaultLogger::create(
"", Assimp::Logger::VERBOSE, aiDefaultLogStream_STDOUT);
this->dataPtr->importer.SetPropertyBool(AI_CONFIG_PP_FD_REMOVE, true);
this->dataPtr->importer.SetPropertyBool(
AI_CONFIG_IMPORT_REMOVE_EMPTY_BONES, false);
Expand Down Expand Up @@ -701,7 +695,9 @@ Mesh *AssimpLoader::Load(const std::string &_filename)
}

/////////////////////////////////////////////////
void AssimpLoader::Implementation::ApplyInvBindTransform(SkeletonPtr _skeleton)
void AssimpLoader::Implementation::ApplyInvBindTransform(
SkeletonPtr _skeleton) const

{
std::queue<SkeletonNode *> queue;
queue.push(_skeleton->RootNode());
Expand Down

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