Add mesh optimization attribute to <mesh>

include/sdf/Mesh.hh

@@ -37,6 +37,17 @@ namespace sdf
   // Forward declarations.
   class ParserConfig;
 
+  /// \brief Mesh simplification method
+  enum class MeshSimplification
+  {
+    /// \brief No mesh simplification
+    NONE,
+    /// \brief Convex hull
+    CONVEX_HULL,
+    /// \brief Convex decomposition
+    CONVEX_DECOMPOSITION
+  };
+
   /// \brief Mesh represents a mesh shape, and is usually accessed through a
   /// Geometry.
   class SDFORMAT_VISIBLE Mesh
@@ -61,6 +72,27 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
+    /// \brief Get the mesh's simplifcation method
+    /// \return The mesh simplification method.
+    /// MeshSimplification::NONE if no mesh simplificaton is done.
+    public: MeshSimplification Simplification() const;
+
+    /// \brief Get the mesh's simplifcation method
+    /// \return The mesh simplification method.
+    /// Empty string if no mesh simplificaton is done.
+    public: std::string SimplificationStr() const;
+
+    /// \brief Set the mesh simplification method.
+    /// \param[in] _simplifcation The mesh simplification method.
+    public: void SetSimplification(MeshSimplification _simplifcation);
+
+    /// \brief Set the mesh simplification method.
+    /// \param[in] _simplifcation The mesh simplification method.
+    /// \return True if the _simplificationStr parameter matched a known
+    /// mesh simplification method. False if the mesh simplification method
+    ///  could not be set.
+    public: bool SetSimplification(const std::string &_simplifcationStr);
+
     /// \brief Get the mesh's URI.
     /// \return The URI of the mesh data.
     public: std::string Uri() const;

sdf/1.11/mesh_shape.sdf

@@ -1,5 +1,12 @@
 <element name="mesh" required="0">
   <description>Mesh shape</description>
+
+  <attribute name="simplification" type="string" default="" required="0">
+    <description>
+      Set whether to simplify the mesh using one of the specified methods. Values include: "convex_hull" - a single convex hull that encapsulates the mesh, "convex_decomposition" - decompose the mesh into multiple convex hull meshes. Default value is an empty string which means no mesh simplification.
+    </description>
+  </attribute>
+
   <element name="uri" type="string" default="__default__" required="1">
     <description>Mesh uri</description>
   </element>

sdf/1.12/mesh_shape.sdf

@@ -1,5 +1,12 @@
 <element name="mesh" required="0">
   <description>Mesh shape</description>
+
+  <attribute name="simplification" type="string" default="" required="0">
+    <description>
+      Set whether to simplify the mesh using one of the specified methods. Values include: "convex_hull" - a single convex hull that encapsulates the mesh, "convex_decomposition" - decompose the mesh into multiple convex hull meshes. Default value is an empty string which means no mesh simplification.
+    </description>
+  </attribute>
+
   <element name="uri" type="string" default="__default__" required="1">
     <description>Mesh uri</description>
   </element>

src/Mesh.cc

@@ -14,8 +14,10 @@
  * limitations under the License.
  *
 */
+#include <array>
 #include <filesystem>
 #include <optional>
+#include <string_view>
 
 #include <gz/math/Inertial.hh>
 #include "sdf/CustomInertiaCalcProperties.hh"
@@ -27,9 +29,22 @@
 
 using namespace sdf;
 
+/// Mesh Simplification method strings. These should match the data in
+/// `enum class MeshSimplification` located in Mesh.hh, and the size
+/// template parameter should match the number of elements as well.
+constexpr std::array<const std::string_view, 3> kMeshSimplificationStrs =
+{
+  "",
+  "convex_hull",
+  "convex_decomposition"
+};
+
 // Private data class
 class sdf::Mesh::Implementation
 {
+  /// \brief Mesh simplification method
+  public: MeshSimplification simplification = MeshSimplification::NONE;
+
   /// \brief The mesh's URI.
   public: std::string uri = "";
 
@@ -87,6 +102,12 @@
     return errors;
   }
 
+  // Simplify
+  if (_sdf->HasAttribute("simplification"))
+  {
+    this->SetSimplification(_sdf->Get<std::string>("simplification", "").first);
+  }
+
   if (_sdf->HasElement("uri"))
   {
     std::unordered_set<std::string> paths;
@@ -140,6 +161,41 @@
   return this->dataPtr->sdf;
 }
 
+//////////////////////////////////////////////////
+MeshSimplification Mesh::Simplification() const
+{
+  return this->dataPtr->simplification;
+}
+
+//////////////////////////////////////////////////
+std::string Mesh::SimplificationStr() const
+{
+  size_t index = static_cast<int>(this->dataPtr->simplification);
+  if (index < kMeshSimplificationStrs.size())
+    return std::string(kMeshSimplificationStrs[index]);
+  return "";
+}
+
+//////////////////////////////////////////////////
+bool Mesh::SetSimplification(const std::string &_simplificationStr)
+{
+  for (size_t i = 0; i < kMeshSimplificationStrs.size(); ++i)
+  {
+    if (_simplificationStr == kMeshSimplificationStrs[i])
+    {
+      this->dataPtr->simplification = static_cast<MeshSimplification>(i);
+      return true;
+    }
+  }
+  return false;
+}
+
+//////////////////////////////////////////////////
+void Mesh::SetSimplification(MeshSimplification _simplification)
+{
+  this->dataPtr->simplification = _simplification;
+}
+
 //////////////////////////////////////////////////
 std::string Mesh::Uri() const
 {
@@ -244,6 +300,10 @@
   sdf::ElementPtr elem(new sdf::Element);
   sdf::initFile("mesh_shape.sdf", elem);
 
+  // Simplification
+  elem->GetAttribute("simplification")->Set<std::string>(
+      this->SimplificationStr());
+
   // Uri
   sdf::ElementPtr uriElem = elem->GetElement("uri", _errors);
   uriElem->Set(_errors, this->Uri());

src/Mesh_TEST.cc

@@ -34,6 +34,8 @@ TEST(DOMMesh, Construction)
   sdf::Mesh mesh;
   EXPECT_EQ(nullptr, mesh.Element());
 
+  EXPECT_EQ(std::string(), mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::NONE, mesh.Simplification());
   EXPECT_EQ(std::string(), mesh.FilePath());
   EXPECT_EQ(std::string(), mesh.Uri());
   EXPECT_EQ(std::string(), mesh.Submesh());
@@ -45,13 +47,16 @@ TEST(DOMMesh, Construction)
 TEST(DOMMesh, MoveConstructor)
 {
   sdf::Mesh mesh;
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("banana");
   mesh.SetSubmesh("watermelon");
   mesh.SetCenterSubmesh(true);
   mesh.SetScale({0.5, 0.6, 0.7});
   mesh.SetFilePath("/pear");
 
   sdf::Mesh mesh2(std::move(mesh));
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -63,13 +68,16 @@ TEST(DOMMesh, MoveConstructor)
 TEST(DOMMesh, CopyConstructor)
 {
   sdf::Mesh mesh;
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("banana");
   mesh.SetSubmesh("watermelon");
   mesh.SetCenterSubmesh(true);
   mesh.SetScale({0.5, 0.6, 0.7});
   mesh.SetFilePath("/pear");
 
   sdf::Mesh mesh2(mesh);
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -81,6 +89,7 @@ TEST(DOMMesh, CopyConstructor)
 TEST(DOMMesh, CopyAssignmentOperator)
 {
   sdf::Mesh mesh;
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("banana");
   mesh.SetSubmesh("watermelon");
   mesh.SetCenterSubmesh(true);
@@ -89,6 +98,8 @@ TEST(DOMMesh, CopyAssignmentOperator)
 
   sdf::Mesh mesh2;
   mesh2 = mesh;
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -100,6 +111,7 @@ TEST(DOMMesh, CopyAssignmentOperator)
 TEST(DOMMesh, MoveAssignmentOperator)
 {
   sdf::Mesh mesh;
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("banana");
   mesh.SetSubmesh("watermelon");
   mesh.SetCenterSubmesh(true);
@@ -108,6 +120,8 @@ TEST(DOMMesh, MoveAssignmentOperator)
 
   sdf::Mesh mesh2;
   mesh2 = std::move(mesh);
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -140,6 +154,15 @@ TEST(DOMMesh, Set)
   sdf::Mesh mesh;
   EXPECT_EQ(nullptr, mesh.Element());
 
+  EXPECT_EQ(std::string(), mesh.SimplificationStr());
+  mesh.SetSimplification("convex_hull");
+  EXPECT_EQ("convex_hull", mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh.Simplification());
+  mesh.SetSimplification(sdf::MeshSimplification::CONVEX_DECOMPOSITION);
+  EXPECT_EQ("convex_decomposition", mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_DECOMPOSITION,
+            mesh.Simplification());
+
   EXPECT_EQ(std::string(), mesh.Uri());
   mesh.SetUri("http://myuri.com");
   EXPECT_EQ("http://myuri.com", mesh.Uri());
@@ -296,6 +319,7 @@ TEST(DOMMesh, ToElement)
 {
   sdf::Mesh mesh;
 
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("mesh-uri");
   mesh.SetScale(gz::math::Vector3d(1, 2, 3));
   mesh.SetSubmesh("submesh");
@@ -307,6 +331,8 @@ TEST(DOMMesh, ToElement)
   sdf::Mesh mesh2;
   mesh2.Load(elem);
 
+  EXPECT_EQ(mesh.SimplificationStr(), mesh2.SimplificationStr());
+  EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
   EXPECT_EQ(mesh.Uri(), mesh2.Uri());
   EXPECT_EQ(mesh.Scale(), mesh2.Scale());
   EXPECT_EQ(mesh.Submesh(), mesh2.Submesh());
@@ -332,6 +358,7 @@ TEST(DOMMesh, ToElementErrorOutput)
   sdf::Mesh mesh;
   sdf::Errors errors;
 
+  mesh.SetSimplification("convex_hull");
   mesh.SetUri("mesh-uri");
   mesh.SetScale(gz::math::Vector3d(1, 2, 3));
   mesh.SetSubmesh("submesh");
@@ -345,6 +372,8 @@ TEST(DOMMesh, ToElementErrorOutput)
   errors = mesh2.Load(elem);
   EXPECT_TRUE(errors.empty());
 
+  EXPECT_EQ(mesh.SimplificationStr(), mesh2.SimplificationStr());
+  EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
   EXPECT_EQ(mesh.Uri(), mesh2.Uri());
   EXPECT_EQ(mesh.Scale(), mesh2.Scale());
   EXPECT_EQ(mesh.Submesh(), mesh2.Submesh());

test/integration/geometry_dom.cc

@@ -179,6 +179,10 @@ TEST(DOMGeometry, Shapes)
   EXPECT_EQ(sdf::GeometryType::MESH, meshCol->Geom()->Type());
   const sdf::Mesh *meshColGeom = meshCol->Geom()->MeshShape();
   ASSERT_NE(nullptr, meshColGeom);
+  EXPECT_EQ("convex_hull", meshColGeom->SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL,
+            meshColGeom->Simplification());
+
   EXPECT_EQ("https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/"
       "mesh.dae", meshColGeom->Uri());
   EXPECT_TRUE(gz::math::Vector3d(0.1, 0.2, 0.3) ==

test/sdf/shapes.sdf

@@ -120,7 +120,7 @@
 
       <collision name="mesh_col">
         <geometry>
-          <mesh>
+          <mesh simplification="convex_hull">
             <uri>https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/mesh.dae</uri>
             <submesh>
               <name>my_submesh</name>