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Merge branch 'main' into self_pipe
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azeey authored Aug 15, 2024
2 parents 258a565 + ff15449 commit c2a5c1e
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Showing 8 changed files with 118 additions and 19 deletions.
11 changes: 10 additions & 1 deletion .github/workflows/ci.yml
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Expand Up @@ -14,9 +14,18 @@ jobs:
name: Ubuntu Jammy CI
steps:
- name: Checkout
uses: actions/checkout@v3
uses: actions/checkout@v4
- name: Compile and test
id: ci
uses: gazebo-tooling/action-gz-ci@jammy
with:
codecov-enabled: true
noble-ci:
runs-on: ubuntu-latest
name: Ubuntu Noble CI
steps:
- name: Checkout
uses: actions/checkout@v4
- name: Compile and test
id: ci
uses: gazebo-tooling/action-gz-ci@noble
2 changes: 1 addition & 1 deletion CMakeLists.txt
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@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.10.2 FATAL_ERROR)
cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)

#============================================================================
# Initialize the project
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2 changes: 1 addition & 1 deletion examples/CMakeLists.txt
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@@ -1,4 +1,4 @@
cmake_minimum_required(VERSION 3.5 FATAL_ERROR)
cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)

project(gz-common-examples)

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7 changes: 3 additions & 4 deletions graphics/include/gz/common/SubMesh.hh
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Expand Up @@ -20,7 +20,6 @@
#include <memory>
#include <optional>
#include <string>
#include <vector>

#include <gz/math/Vector3.hh>
#include <gz/math/Vector2.hh>
Expand Down Expand Up @@ -158,7 +157,7 @@ namespace gz
public: gz::math::Vector3d Vertex(const unsigned int _index) const;

/// \brief Get the raw vertex pointer. This is unsafe, it is the
/// caller's responsability to ensure it's not indexed out of bounds.
/// caller's responsibility to ensure it's not indexed out of bounds.
/// The valid range is [0; VertexCount())
/// \return Raw vertices
public: const gz::math::Vector3d* VertexPtr() const;
Expand Down Expand Up @@ -224,7 +223,7 @@ namespace gz
public: int Index(const unsigned int _index) const;

/// \brief Get the raw index pointer. This is unsafe, it is the
/// caller's responsability to ensure it's not indexed out of bounds.
/// caller's responsibility to ensure it's not indexed out of bounds.
/// The valid range is [0; IndexCount())
/// \return Raw indices
public: const unsigned int* IndexPtr() const;
Expand Down Expand Up @@ -410,7 +409,7 @@ namespace gz
GZ_UTILS_IMPL_PTR(dataPtr)
};

/// \brief Vertex to node weighted assignement for skeleton animation
/// \brief Vertex to node weighted assignment for skeleton animation
/// visualization
class GZ_COMMON_GRAPHICS_VISIBLE NodeAssignment
{
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74 changes: 65 additions & 9 deletions graphics/src/SubMesh.cc
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Expand Up @@ -18,8 +18,8 @@
#include <algorithm>
#include <limits>
#include <map>
#include <optional>
#include <string>
#include <vector>

#include "gz/math/Helpers.hh"

Expand Down Expand Up @@ -566,10 +566,67 @@ void SubMesh::FillArrays(double **_vertArr, int **_indArr) const
}
}

namespace {
// Simple way to find neighbors by grouping all vertices
// by X coordinate in (ordered) map. KD-tree maybe better
// but not sure about construction overhead
struct Neighbors
{
Neighbors(const std::vector<unsigned int> &_indices,
const std::vector<gz::math::Vector3d> &_vertices)
: vertices(_vertices)
{
for (unsigned int i = 0; i < _indices.size(); ++i)
{
const auto index = _indices[i];
this->groups[_vertices[index].X()].push_back(index);
}
}

// When we have a concrete point to check, we are looking for
// a group inside a map with a same X.
// Then we check neighbors with the smaller X until
// it's in tolerance of the math::equal function.
// Starting from smallest X, which is in a tolerance range,
// testing all points in group for equality. In case of equality,
// call a Visitor with element index as an argument.
// Continue until a greater side of X tolerance range reached.
template<typename Visitor>
void Visit(const gz::math::Vector3d &_point, Visitor _v) const
{
auto it = this->groups.find(_point.X());
// find smaller acceptable value
while (it != this->groups.begin())
{
auto prev = it;
--prev;
if (!gz::math::equal(prev->first, _point.X()))
break;
it = prev;
}
while (it != this->groups.end()
&& gz::math::equal(it->first, _point.X()))
{
for (const auto index : it->second)
if (this->vertices[index] == _point)
_v(index);
++it;
}
}

// Indexes of vertices grouped by X coordinate
private: std::map<double, std::vector<unsigned int>> groups;
// Const reference to a vertices vector
private: const std::vector<gz::math::Vector3d> &vertices;
};
} // namespace

//////////////////////////////////////////////////
void SubMesh::RecalculateNormals()
{
if (this->dataPtr->normals.size() < 3u)
if (this->dataPtr->primitiveType != SubMesh::TRIANGLES
|| this->dataPtr->indices.empty()
|| this->dataPtr->indices.size() % 3u != 0)
return;

// Reset all the normals
Expand All @@ -579,6 +636,8 @@ void SubMesh::RecalculateNormals()
if (this->dataPtr->normals.size() != this->dataPtr->vertices.size())
this->dataPtr->normals.resize(this->dataPtr->vertices.size());

Neighbors neighbors(this->dataPtr->indices, this->dataPtr->vertices);

// For each face, which is defined by three indices, calculate the normals
for (unsigned int i = 0; i < this->dataPtr->indices.size(); i+= 3)
{
Expand All @@ -590,14 +649,11 @@ void SubMesh::RecalculateNormals()
this->dataPtr->vertices[this->dataPtr->indices[i+2]];
gz::math::Vector3d n = gz::math::Vector3d::Normal(v1, v2, v3);

for (unsigned int j = 0; j < this->dataPtr->vertices.size(); ++j)
{
gz::math::Vector3d v = this->dataPtr->vertices[j];
if (v == v1 || v == v2 || v == v3)
for (const auto &point : {v1, v2, v3})
neighbors.Visit(point, [&](const unsigned int index)
{
this->dataPtr->normals[j] += n;
}
}
this->dataPtr->normals[index] += n;
});
}

// Normalize the results
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29 changes: 29 additions & 0 deletions graphics/src/SubMesh_TEST.cc
Original file line number Diff line number Diff line change
Expand Up @@ -569,3 +569,32 @@ TEST_F(SubMeshTest, Volume)
boxSub.AddIndex(1);
EXPECT_DOUBLE_EQ(0.0, boxSub.Volume());
}

/////////////////////////////////////////////////
TEST_F(SubMeshTest, NormalsRecalculation)
{
auto submesh = std::make_shared<common::SubMesh>();
submesh->SetPrimitiveType(common::SubMesh::TRIANGLES);

constexpr unsigned int triangles = 16384;
for (unsigned int i = 0; i < triangles; ++i) {
// sub to X less than _epsilon from even triangles
// expect that the 2nd vertex should be matched with
// the 1st of next triangle
const auto jitter = i % 2 ? 1e-7 : 0.0;
submesh->AddVertex(i-jitter, i, i);
submesh->AddVertex(i+1, i+1, i+1);
submesh->AddVertex(i, i, -static_cast<double>(i));

submesh->AddIndex(3*i);
submesh->AddIndex(3*i+1);
submesh->AddIndex(3*i+2);
}

ASSERT_EQ(submesh->IndexCount() % 3, 0u);
submesh->RecalculateNormals();
ASSERT_EQ(submesh->NormalCount(), submesh->VertexCount());
// Same triangle, but different normals
// because of neighbour vertex
ASSERT_NE(submesh->Normal(0), submesh->Normal(1));
}
10 changes: 8 additions & 2 deletions graphics/src/VHACD/VHACD.h
Original file line number Diff line number Diff line change
Expand Up @@ -113,6 +113,12 @@
#include <stdint.h>
#include <functional>

// Local modification done by @iche033
// The m_voxelHullCount variable type is changed from
// uint32_t to std::atomic<uint32_t>
// to fix data race issue picked up by TSAN
#include <atomic>

#include <vector>
#include <array>
#include <cmath>
Expand Down Expand Up @@ -5965,12 +5971,12 @@ class VoxelHull
std::unordered_map<uint32_t, uint32_t> m_voxelIndexMap; // Maps from a voxel coordinate space into a vertex index space
std::vector<VHACD::Vertex> m_vertices;
std::vector<VHACD::Triangle> m_indices;
static uint32_t m_voxelHullCount;
static std::atomic<uint32_t> m_voxelHullCount;
IVHACD::Parameters m_params;
VHACDCallbacks* m_callbacks{ nullptr };
};

uint32_t VoxelHull::m_voxelHullCount = 0;
std::atomic<uint32_t> VoxelHull::m_voxelHullCount = 0;

VoxelHull::VoxelHull(const VoxelHull& parent,
SplitAxis axis,
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2 changes: 1 addition & 1 deletion tutorials/profiler.md
Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ Update your CMakeLists.txt to the following. Note that the profiler must be
enabled at compile time in order to function.

```{.cpp}
cmake_minimum_required(VERSION 2.8 FATAL_ERROR)
cmake_minimum_required(VERSION 3.22.1 FATAL_ERROR)
# Find the gz-common library
find_package(gz-common6 QUIET REQUIRED COMPONENTS profiler)
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