Use assimp for loading meshes

.github/ci/packages.apt

@@ -1,3 +1,4 @@
+libassimp-dev
 libavcodec-dev
 libavdevice-dev
 libavformat-dev

CMakeLists.txt

@@ -122,6 +122,10 @@ gz_find_package(AVCODEC REQUIRED_BY av PRETTY libavcodec)
 # Find avutil
 gz_find_package(AVUTIL REQUIRED_BY av PRETTY libavutil)
 
+#------------------------------------
+# Find assimp
+gz_find_package(GzAssimp REQUIRED_BY graphics PRETTY assimp)
+
 
 message(STATUS "-------------------------------------------\n")
 

graphics/include/gz/common/AssimpLoader.hh

@@ -0,0 +1,51 @@
+/*
+ * Copyright (C) 2022 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ *
+*/
+#ifndef GZ_COMMON_ASSIMPLOADER_HH_
+#define GZ_COMMON_ASSIMPLOADER_HH_
+
+#include <string>
+#include <gz/common/graphics/Export.hh>
+#include <gz/common/MeshLoader.hh>
+
+#include <gz/utils/ImplPtr.hh>
+
+namespace gz
+{
+  namespace common
+  {
+    /// \class AssimpLoader AssimpLoader.hh gz/common/AssimpLoader.hh
+    /// \brief Class used to load mesh files using the assimp lodaer
+    class GZ_COMMON_GRAPHICS_VISIBLE AssimpLoader : public MeshLoader
+    {
+      /// \brief Constructor
+      public: AssimpLoader();
+
+      /// \brief Destructor
+      public: virtual ~AssimpLoader();
+
+      /// \brief Load a mesh
+      /// \param[in] _filename Mesh file to load
+      /// \return Pointer to a new Mesh
+      public: virtual Mesh *Load(const std::string &_filename) override;
+
+      /// \internal
+      /// \brief Pointer to private data.
+      GZ_UTILS_UNIQUE_IMPL_PTR(dataPtr)
+    };
+  }
+}
+#endif

graphics/include/gz/common/Material.hh

@@ -24,6 +24,7 @@
 #include <gz/math/Color.hh>
 #include <gz/common/graphics/Export.hh>
 #include <gz/common/EnumIface.hh>
+#include <gz/common/Image.hh>
 #include <gz/common/Pbr.hh>
 
 #include <gz/utils/ImplPtr.hh>
@@ -102,15 +103,22 @@ namespace gz
 
       /// \brief Set a texture image
       /// \param[in] _tex The name of the texture, which must be in the
-      /// resource path
-      public: void SetTextureImage(const std::string &_tex);
+      /// resource path or its name if _img is provided
+      /// \param[in] _img The image containing the texture if image has been
+      /// loaded in memory
+      public: void SetTextureImage(const std::string &_tex,
+                  const std::shared_ptr<const Image> &_img = nullptr);
 
       /// \brief Set a texture image
       /// \param[in] _tex The name of the texture
       /// \param[in] _resourcePath Path which contains _tex
       public: void SetTextureImage(const std::string &_tex,
                                    const std::string &_resourcePath);
 
+      /// \brief Gets the texture image, if the texture was loaded from memory
+      /// \return A pointer to the image that was loaded from memory
+      public: std::shared_ptr<const Image> TextureData() const;
+
       /// \brief Get a texture image
       /// \return The name of the texture image (if one exists) or an empty
       /// string

graphics/include/gz/common/MeshManager.hh

@@ -45,7 +45,11 @@ namespace gz
     class SubMesh;
 
     /// \class MeshManager MeshManager.hh gz/common/MeshManager.hh
-    /// \brief Maintains and manages all meshes
+    /// \brief Maintains and manages all meshes. Supported mesh formats are
+    /// STL (STLA, STLB), COLLADA, OBJ, GLTF (GLB) and FBX. By default only GLTF
+    /// and FBX are loaded using assimp loader, however if GZ_MESH_FORCE_ASSIMP
+    /// environment variable is set, then MeshManager will use assimp loader for
+    /// all supported mesh formats.
     class GZ_COMMON_GRAPHICS_VISIBLE MeshManager
         : public SingletonT<MeshManager>
     {
@@ -240,8 +244,12 @@ namespace gz
                                const gz::math::Vector2d &_segments,
                                const gz::math::Vector2d &_uvTile);
 
+      /// \brief Sets the forceAssimp flag by reading the GZ_MESH_FORCE_ASSIMP
+      /// environment variable. If forceAssimp true, MeshManager uses Assimp
+      /// for loading all mesh formats, otherwise only for GLTF and FBX.
+      public: void SetAssimpEnvs();
+
       /// \brief Tesselate a 2D mesh
-      ///
       /// Makes a zigzag pattern compatible with strips
       /// \param[in] _sm the mesh to tesselate
       /// \param[in] _meshWith mesh width

graphics/include/gz/common/Pbr.hh

@@ -17,11 +17,13 @@
 #ifndef GZ_COMMON_PBR_HH_
 #define GZ_COMMON_PBR_HH_
 
+#include <memory>
 #include <string>
 
 #include <gz/utils/ImplPtr.hh>
 
 #include <gz/common/graphics/Export.hh>
+#include <gz/common/Image.hh>
 
 namespace gz
 {
@@ -84,12 +86,20 @@ namespace common
     /// has not been specified.
     public: std::string NormalMap() const;
 
+    /// \brief Gets the normal map data,
+    /// if the texture was loaded from memory, otherwise a nullptr
+    /// \return A pointer to the image that was loaded from memory
+    public: std::shared_ptr<const Image> NormalMapData() const;
+
     /// \brief Set the normal map filename.
     /// \param[in] _map Filename of the normal map.
     /// \param[in] _space Space that the normal map is defined in.
     /// Defaults to tangent space.
+    /// \param[in] _img The image containing the texture if image has been
+    /// loaded in memory
     public: void SetNormalMap(const std::string &_map,
-        NormalMapSpace _space = NormalMapSpace::TANGENT);
+        NormalMapSpace _space = NormalMapSpace::TANGENT,
+        const std::shared_ptr<const Image> &_img = nullptr);
 
     /// \brief Get the normal map type, either tangent or object space
     /// \return Space that the normal map is defined in
@@ -123,7 +133,15 @@ namespace common
 
     /// \brief Set the roughness map filename for metal workflow.
     /// \param[in] _map Filename of the roughness map.
-    public: void SetRoughnessMap(const std::string &_map);
+    /// \param[in] _img The image containing the texture if image has been
+    /// loaded in memory
+    public: void SetRoughnessMap(const std::string &_map,
+        const std::shared_ptr<const Image> &_img = nullptr);
+
+    /// \brief Gets the roughness map data,
+    /// if the texture was loaded from memory, otherwise a nullptr
+    /// \return A pointer to the image that was loaded from memory
+    public: std::shared_ptr<const Image> RoughnessMapData() const;
 
     /// \brief Get the metalness map filename for metal workflow. This will be
     /// an empty string if a metalness map has not been set.
@@ -133,7 +151,15 @@ namespace common
 
     /// \brief Set the metalness map filename for metal workflow.
     /// \param[in] _map Filename of the metalness map.
-    public: void SetMetalnessMap(const std::string &_map);
+    /// \param[in] _img The image containing the texture if image has been
+    /// loaded in memory
+    public: void SetMetalnessMap(const std::string &_map,
+        const std::shared_ptr<const Image> &_img = nullptr);
+
+    /// \brief Gets the metalness map data,
+    /// if the texture was loaded from memory, otherwise a nullptr
+    /// \return A pointer to the image that was loaded from memory
+    public: std::shared_ptr<const Image> MetalnessMapData() const;
 
     /// \brief Get the emissive map filename. This will be an empty string
     /// if an emissive map has not been set.
@@ -143,18 +169,34 @@ namespace common
 
     /// \brief Set the emissive map filename.
     /// \param[in] _map Filename of the emissive map.
-    public: void SetEmissiveMap(const std::string &_map);
+    /// \param[in] _img The image containing the texture if image has been
+    /// loaded in memory
+    public: void SetEmissiveMap(const std::string &_map,
+        const std::shared_ptr<const Image> &_img = nullptr);
+
+    /// \brief Gets the emissive map data,
+    /// if the texture was loaded from memory, otherwise a nullptr
+    /// \return A pointer to the image that was loaded from memory
+    public: std::shared_ptr<const Image> EmissiveMapData() const;
 
     /// \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 Gets the light map data,
+    /// if the texture was loaded from memory, otherwise a nullptr
+    /// \return A pointer to the image that was loaded from memory
+    public: std::shared_ptr<const Image> LightMapData() const;
+
     /// \brief Set the light map filename.
     /// \param[in] _map Filename of the light map.
     /// \param[in] _uvSet Index of the texture coordinate set
-    public: void SetLightMap(const std::string &_map, unsigned int _uvSet = 0u);
+    /// \param[in] _img The image containing the texture if image has been
+    /// loaded in memory
+    public: void SetLightMap(const std::string &_map, unsigned int _uvSet = 0u,
+        const std::shared_ptr<const Image> &_img = nullptr);
 
     /// \brief Get the light map texture coordinate set.
     /// \return Index of the light map texture coordinate set