Merge branch 'sdf9' into jennuine/parse_inf

Signed-off-by: Jenn Nguyen <jenn@openrobotics.org>

include/sdf/Pbr.hh

@@ -179,6 +179,21 @@ namespace sdf
     /// \param[in] _map Filename of the emissive map.
     public: void SetEmissiveMap(const std::string &_map);
 
+    /// \brief Get the light map filename. This will be an empty string
+    /// if an light map has not been set.
+    /// \return Filename of the light map, or empty string if a light
+    /// map has not been specified.
+    public: std::string LightMap() const;
+
+    /// \brief Set the light map filename.
+    /// \param[in] _map Filename of the light map.
+    /// \param[in] _uvSet Index of the light map texture coordinate set
+    public: void SetLightMap(const std::string &_map, unsigned int _uvSet = 0u);
+
+    /// \brief Get the light map texture coordinate set.
+    /// \return Index of the texture coordinate set
+    public: unsigned int LightMapTexCoordSet() const;
+
     /// \brief Get the metalness value of the material for metal workflow
     /// \return metalness value of the material
     public: double Metalness() const;

sdf/1.7/material.sdf

@@ -95,6 +95,14 @@
       <element name="emissive_map" type="string" default="" required="0">
         <description>Filename of the emissive map.</description>
       </element>
+
+      <element name="light_map" type="string" default="" required="0">
+        <attribute name="uv_set" type="unsigned int" default="0" required="0">
+          <description>Index of the texture coordinate set to use.</description>
+        </attribute>
+        <description>Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map</description>
+      </element>
+
     </element>
 
     <element name="specular" required="0">
@@ -135,6 +143,13 @@
       <element name="emissive_map" type="string" default="" required="0">
         <description>Filename of the emissive map.</description>
       </element>
+
+      <element name="light_map" type="string" default="" required="0">
+        <attribute name="uv_set" type="unsigned int" default="0" required="0">
+          <description>Index of the texture coordinate set to use.</description>
+        </attribute>
+        <description>Filename of the light map. The light map is a prebaked light texture that is applied over the albedo map</description>
+      </element>
     </element>
 
   </element>

src/Pbr.cc

@@ -55,6 +55,12 @@ class sdf::PbrWorkflowPrivate
   /// \brief Emissive map
   public: std::string emissiveMap = "";
 
+  /// \brief Light map
+  public: std::string lightMapFilename;
+
+  /// \brief Light map texture coordinate set
+  public: unsigned int lightMapUvSet = 0u;
+
   /// \brief Roughness value (metal workflow only)
   public: double roughness = 0.5;
 
@@ -140,6 +146,7 @@ bool PbrWorkflow::operator==(const PbrWorkflow &_workflow) const
     && (this->dataPtr->glossinessMap == _workflow.dataPtr->glossinessMap)
     && (this->dataPtr->environmentMap == _workflow.dataPtr->environmentMap)
     && (this->dataPtr->emissiveMap == _workflow.dataPtr->emissiveMap)
+    && (this->dataPtr->lightMapFilename == _workflow.dataPtr->lightMapFilename)
     && (this->dataPtr->ambientOcclusionMap ==
         _workflow.dataPtr->ambientOcclusionMap)
     && (ignition::math::equal(
@@ -212,6 +219,14 @@ Errors PbrWorkflow::Load(sdf::ElementPtr _sdf)
   this->dataPtr->emissiveMap = _sdf->Get<std::string>("emissive_map",
       this->dataPtr->emissiveMap).first;
 
+  if (_sdf->HasElement("light_map"))
+  {
+    sdf::ElementPtr lightMapElem = _sdf->GetElement("light_map");
+    this->dataPtr->lightMapFilename = lightMapElem->Get<std::string>();
+    this->dataPtr->lightMapUvSet = lightMapElem->Get<unsigned int>("uv_set",
+        this->dataPtr->lightMapUvSet).first;
+  }
+
   return errors;
 }
 
@@ -366,6 +381,25 @@ void PbrWorkflow::SetEmissiveMap(const std::string &_map)
   this->dataPtr->emissiveMap = _map;
 }
 
+//////////////////////////////////////////////////
+std::string PbrWorkflow::LightMap() const
+{
+  return this->dataPtr->lightMapFilename;
+}
+
+//////////////////////////////////////////////////
+void PbrWorkflow::SetLightMap(const std::string &_map, unsigned int _uvSet)
+{
+  this->dataPtr->lightMapFilename = _map;
+  this->dataPtr->lightMapUvSet = _uvSet;
+}
+
+//////////////////////////////////////////////////
+unsigned int PbrWorkflow::LightMapTexCoordSet() const
+{
+  return this->dataPtr->lightMapUvSet;
+}
+
 //////////////////////////////////////////////////
 sdf::ElementPtr PbrWorkflow::Element() const
 {

src/Pbr_TEST.cc

@@ -35,6 +35,8 @@ TEST(DOMPbr, Construction)
   EXPECT_EQ(std::string(), workflow.RoughnessMap());
   EXPECT_EQ(std::string(), workflow.MetalnessMap());
   EXPECT_EQ(std::string(), workflow.EmissiveMap());
+  EXPECT_EQ(std::string(), workflow.LightMap());
+  EXPECT_EQ(0u, workflow.LightMapTexCoordSet());
   EXPECT_DOUBLE_EQ(0.5, workflow.Roughness());
   EXPECT_DOUBLE_EQ(0.5, workflow.Metalness());
   EXPECT_EQ(std::string(), workflow.SpecularMap());
@@ -70,6 +72,7 @@ TEST(DOMPbr, MoveConstructor)
     workflow.SetEnvironmentMap("metal_env_map.png");
     workflow.SetAmbientOcclusionMap("metal_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("metal_emissive_map.png");
+    workflow.SetLightMap("metal_light_map.png", 1u);
     workflow.SetRoughnessMap("roughness_map.png");
     workflow.SetMetalnessMap("metalness_map.png");
     workflow.SetRoughness(0.8);
@@ -84,6 +87,8 @@ TEST(DOMPbr, MoveConstructor)
     EXPECT_EQ("metal_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("metal_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("metal_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(1u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("roughness_map.png", workflow2.RoughnessMap());
     EXPECT_EQ("metalness_map.png", workflow2.MetalnessMap());
     EXPECT_DOUBLE_EQ(0.8, workflow2.Roughness());
@@ -104,6 +109,7 @@ TEST(DOMPbr, MoveConstructor)
     workflow.SetEnvironmentMap("specular_env_map.png");
     workflow.SetAmbientOcclusionMap("specular_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("specular_emissive_map.png");
+    workflow.SetLightMap("specular_light_map.png", 2u);
     workflow.SetGlossinessMap("glossiness_map.png");
     workflow.SetSpecularMap("specular_map.png");
     workflow.SetGlossiness(0.1);
@@ -117,6 +123,8 @@ TEST(DOMPbr, MoveConstructor)
     EXPECT_EQ("specular_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("specular_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("specular_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(2u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("specular_map.png", workflow2.SpecularMap());
     EXPECT_EQ("glossiness_map.png", workflow2.GlossinessMap());
     EXPECT_DOUBLE_EQ(0.1, workflow2.Glossiness());
@@ -155,6 +163,7 @@ TEST(DOMPbr, MoveAssignmentOperator)
     workflow.SetEnvironmentMap("metal_env_map.png");
     workflow.SetAmbientOcclusionMap("metal_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("metal_emissive_map.png");
+    workflow.SetLightMap("metal_light_map.png", 3u);
     workflow.SetRoughnessMap("roughness_map.png");
     workflow.SetMetalnessMap("metalness_map.png");
     workflow.SetRoughness(0.8);
@@ -170,6 +179,8 @@ TEST(DOMPbr, MoveAssignmentOperator)
     EXPECT_EQ("metal_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("metal_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("metal_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(3u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("roughness_map.png", workflow2.RoughnessMap());
     EXPECT_EQ("metalness_map.png", workflow2.MetalnessMap());
     EXPECT_DOUBLE_EQ(0.8, workflow2.Roughness());
@@ -190,6 +201,7 @@ TEST(DOMPbr, MoveAssignmentOperator)
     workflow.SetEnvironmentMap("specular_env_map.png");
     workflow.SetAmbientOcclusionMap("specular_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("specular_emissive_map.png");
+    workflow.SetLightMap("specular_light_map.png", 1u);
     workflow.SetGlossinessMap("glossiness_map.png");
     workflow.SetSpecularMap("specular_map.png");
     workflow.SetGlossiness(0.1);
@@ -204,6 +216,8 @@ TEST(DOMPbr, MoveAssignmentOperator)
     EXPECT_EQ("specular_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("specular_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("specular_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(1u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("specular_map.png", workflow2.SpecularMap());
     EXPECT_EQ("glossiness_map.png", workflow2.GlossinessMap());
     EXPECT_DOUBLE_EQ(0.1, workflow2.Glossiness());
@@ -241,6 +255,7 @@ TEST(DOMPbr, CopyConstructor)
     workflow.SetEnvironmentMap("metal_env_map.png");
     workflow.SetAmbientOcclusionMap("metal_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("metal_emissive_map.png");
+    workflow.SetLightMap("metal_light_map.png", 2u);
     workflow.SetRoughnessMap("roughness_map.png");
     workflow.SetMetalnessMap("metalness_map.png");
     workflow.SetRoughness(0.8);
@@ -255,6 +270,8 @@ TEST(DOMPbr, CopyConstructor)
     EXPECT_EQ("metal_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("metal_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("metal_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(2u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("roughness_map.png", workflow2.RoughnessMap());
     EXPECT_EQ("metalness_map.png", workflow2.MetalnessMap());
     EXPECT_DOUBLE_EQ(0.8, workflow2.Roughness());
@@ -274,6 +291,7 @@ TEST(DOMPbr, CopyConstructor)
     workflow.SetEnvironmentMap("specular_env_map.png");
     workflow.SetAmbientOcclusionMap("specular_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("specular_emissive_map.png");
+    workflow.SetLightMap("specular_light_map.png", 1u);
     workflow.SetGlossinessMap("glossiness_map.png");
     workflow.SetSpecularMap("specular_map.png");
     workflow.SetGlossiness(0.1);
@@ -287,6 +305,8 @@ TEST(DOMPbr, CopyConstructor)
     EXPECT_EQ("specular_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("specular_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("specular_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(1u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("specular_map.png", workflow2.SpecularMap());
     EXPECT_EQ("glossiness_map.png", workflow2.GlossinessMap());
     EXPECT_DOUBLE_EQ(0.1, workflow2.Glossiness());
@@ -325,6 +345,7 @@ TEST(DOMPbr, AssignmentOperator)
     workflow.SetEnvironmentMap("metal_env_map.png");
     workflow.SetAmbientOcclusionMap("metal_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("metal_emissive_map.png");
+    workflow.SetLightMap("metal_light_map.png", 1u);
     workflow.SetRoughnessMap("roughness_map.png");
     workflow.SetMetalnessMap("metalness_map.png");
     workflow.SetRoughness(0.8);
@@ -339,6 +360,8 @@ TEST(DOMPbr, AssignmentOperator)
     EXPECT_EQ("metal_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("metal_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("metal_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(1u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("roughness_map.png", workflow2.RoughnessMap());
     EXPECT_EQ("metalness_map.png", workflow2.MetalnessMap());
     EXPECT_DOUBLE_EQ(0.8, workflow2.Roughness());
@@ -358,6 +381,7 @@ TEST(DOMPbr, AssignmentOperator)
     workflow.SetEnvironmentMap("specular_env_map.png");
     workflow.SetAmbientOcclusionMap("specular_ambient_occlusion_map.png");
     workflow.SetEmissiveMap("specular_emissive_map.png");
+    workflow.SetLightMap("specular_light_map.png", 2u);
     workflow.SetGlossinessMap("glossiness_map.png");
     workflow.SetSpecularMap("specular_map.png");
     workflow.SetGlossiness(0.1);
@@ -370,6 +394,8 @@ TEST(DOMPbr, AssignmentOperator)
     EXPECT_EQ("specular_ambient_occlusion_map.png",
         workflow2.AmbientOcclusionMap());
     EXPECT_EQ("specular_emissive_map.png", workflow2.EmissiveMap());
+    EXPECT_EQ("specular_light_map.png", workflow2.LightMap());
+    EXPECT_EQ(2u, workflow2.LightMapTexCoordSet());
     EXPECT_EQ("specular_map.png", workflow2.SpecularMap());
     EXPECT_EQ("glossiness_map.png", workflow2.GlossinessMap());
     EXPECT_DOUBLE_EQ(0.1, workflow2.Glossiness());
@@ -443,6 +469,10 @@ TEST(DOMPbr, Set)
     workflow.SetEmissiveMap("metal_emissive_map.png");
     EXPECT_EQ("metal_emissive_map.png", workflow.EmissiveMap());
 
+    workflow.SetLightMap("metal_light_map.png", 1u);
+    EXPECT_EQ("metal_light_map.png", workflow.LightMap());
+    EXPECT_EQ(1u, workflow.LightMapTexCoordSet());
+
     workflow.SetRoughnessMap("roughness_map.png");
     EXPECT_EQ("roughness_map.png", workflow.RoughnessMap());
 
@@ -491,6 +521,10 @@ TEST(DOMPbr, Set)
     workflow.SetEmissiveMap("specular_emissive_map.png");
     EXPECT_EQ("specular_emissive_map.png", workflow.EmissiveMap());
 
+    workflow.SetLightMap("specular_light_map.png", 1u);
+    EXPECT_EQ("specular_light_map.png", workflow.LightMap());
+    EXPECT_EQ(1u, workflow.LightMapTexCoordSet());
+
     workflow.SetGlossinessMap("glossiness_map.png");
     EXPECT_EQ("glossiness_map.png", workflow.GlossinessMap());
 

src/SDFExtension.cc

@@ -26,6 +26,7 @@ SDFExtension::SDFExtension()
   this->visual_blobs.clear();
   this->collision_blobs.clear();
   this->setStaticFlag = false;
+  this->isGravity = false;
   this->gravity = true;
   this->isDampingFactor = false;
   this->isMaxContacts = false;
@@ -74,6 +75,7 @@ SDFExtension::SDFExtension(const SDFExtension &_ge)
   this->visual_blobs = _ge.visual_blobs;
   this->collision_blobs = _ge.collision_blobs;
   this->setStaticFlag = _ge.setStaticFlag;
+  this->isGravity = _ge.isGravity;
   this->gravity = _ge.gravity;
   this->isDampingFactor = _ge.isDampingFactor;
   this->isMaxContacts = _ge.isMaxContacts;

src/SDFExtension.hh

@@ -88,6 +88,7 @@ namespace sdf
 
     // body, default off
     public: bool setStaticFlag;
+    public: bool isGravity;
     public: bool gravity;
     public: bool isDampingFactor;
     public: double dampingFactor;

src/parser_urdf.cc

@@ -1343,6 +1343,7 @@ void URDF2SDF::ParseSDFExtension(TiXmlDocument &_urdfXml)
       else if (childElem->ValueStr() == "turnGravityOff")
       {
         std::string valueStr = GetKeyValueAsString(childElem);
+        sdf->isGravity = true;
 
         // default of gravity is true
         if (lowerStr(valueStr) == "false" || lowerStr(valueStr) == "no" ||
@@ -2069,26 +2070,22 @@ void InsertSDFExtensionLink(TiXmlElement *_elem, const std::string &_linkName)
           sdfIt->second.begin(); ge != sdfIt->second.end(); ++ge)
       {
         // insert gravity
-        if ((*ge)->gravity)
+        if ((*ge)->isGravity)
         {
-          AddKeyValue(_elem, "gravity", "true");
-        }
-        else
-        {
-          AddKeyValue(_elem, "gravity", "false");
+          AddKeyValue(_elem, "gravity", (*ge)->gravity ? "true" : "false");
         }
 
         // damping factor
-        TiXmlElement *velocityDecay = new TiXmlElement("velocity_decay");
         if ((*ge)->isDampingFactor)
         {
+          TiXmlElement *velocityDecay = new TiXmlElement("velocity_decay");
           /// @todo separate linear and angular velocity decay
           AddKeyValue(velocityDecay, "linear",
                       Values2str(1, &(*ge)->dampingFactor));
           AddKeyValue(velocityDecay, "angular",
                       Values2str(1, &(*ge)->dampingFactor));
+          _elem->LinkEndChild(velocityDecay);
         }
-        _elem->LinkEndChild(velocityDecay);
         // selfCollide tag
         if ((*ge)->isSelfCollide)
         {

test/integration/fixed_joint_reduction.cc

@@ -134,7 +134,9 @@ void FixedJointReductionCollisionVisualExtension(const std::string &_urdfFile,
   for (sdf::ElementPtr link = urdfModel->GetElement("link"); link;
        link = link->GetNextElement("link"))
   {
+    EXPECT_FALSE(link->HasElement("gravity"));
     EXPECT_FALSE(link->HasElement("self_collide"));
+    EXPECT_FALSE(link->HasElement("velocity_decay"));
     for (sdf::ElementPtr col = link->GetElement("collision"); col;
          col = col->GetNextElement("collision"))
     {
@@ -184,7 +186,9 @@ void FixedJointReductionCollisionVisualExtension(const std::string &_urdfFile,
   for (sdf::ElementPtr link = sdfModel->GetElement("link"); link;
        link = link->GetNextElement("link"))
   {
+    EXPECT_FALSE(link->HasElement("gravity"));
     EXPECT_FALSE(link->HasElement("self_collide"));
+    EXPECT_FALSE(link->HasElement("velocity_decay"));
     for (sdf::ElementPtr col = link->GetElement("collision"); col;
          col = col->GetNextElement("collision"))
     {

test/integration/fixed_joint_reduction_collision_visual_empty_root.sdf

@@ -51,8 +51,6 @@
           </script>
         </material>
       </visual>
-      <gravity>1</gravity>
-      <velocity_decay/>
       <self_collide>0</self_collide>
     </link>
   </model>

test/integration/fixed_joint_reduction_collision_visual_extension.sdf

@@ -134,10 +134,6 @@
           </script>
         </material>
       </visual>
-      <velocity_decay/>
-      <velocity_decay/>
-      <gravity>1</gravity>
-      <velocity_decay/>
     </link>
   </model>
 </sdf>