From 3bf35e8739db292fdc2199ce99c03d812c3f29ce Mon Sep 17 00:00:00 2001
From: John Turner <7strbass@gmail.com>
Date: Wed, 3 Jan 2024 13:58:24 -0500
Subject: [PATCH] --Convert AO scale to vector;
---
docs/pages/attributesJSON.rst | 6 ++--
src/esp/bindings/PhysicsObjectBindings.cpp | 2 +-
src/esp/metadata/URDFParser.cpp | 13 ++++----
src/esp/metadata/URDFParser.h | 31 +++++++++----------
.../attributes/AbstractObjectAttributes.h | 28 ++++++++++++-----
.../ArticulatedObjectAttributes.cpp | 10 +++---
.../attributes/ArticulatedObjectAttributes.h | 10 +++---
.../metadata/managers/AOAttributesManager.cpp | 8 ++---
src/esp/physics/ArticulatedObject.h | 4 +--
src/esp/physics/PhysicsManager.cpp | 17 ++++++----
src/esp/physics/PhysicsManager.h | 6 ++--
src/esp/physics/URDFImporter.cpp | 2 +-
.../physics/bullet/BulletPhysicsManager.cpp | 5 ++-
src/esp/physics/bullet/BulletURDFImporter.cpp | 1 +
.../ArticulatedObjectManager.cpp | 5 +--
.../objectManagers/ArticulatedObjectManager.h | 12 ++++---
.../objectWrappers/ManagedArticulatedObject.h | 4 +--
src/tests/AttributesConfigsTest.cpp | 4 +++
src/tests/IOTest.cpp | 8 ++---
19 files changed, 98 insertions(+), 78 deletions(-)
diff --git a/docs/pages/attributesJSON.rst b/docs/pages/attributesJSON.rst
index 1250a69f69..215f4559c3 100644
--- a/docs/pages/attributesJSON.rst
+++ b/docs/pages/attributesJSON.rst
@@ -370,9 +370,9 @@ Below are the handles and descriptors for the source URDF file and the render as
Articulated Object Configuration And Rendering
----------------------------------------------
-"uniform_scale"
- - double
- - The uniform scaling to apply to this articulated object after load (defaults to 1.0). This is modifiable by the scene instance specification.
+"scale"
+ - 3-vector
+ - The scaling to apply to this articulated object after load (defaults to [1.0,1.0,1.0]). This is modifiable by the scene instance specification.
"mass_scale"
- double
- The amount the mass of the articulated object should be scaled upon load (defaults to 1.0). This is modifiable by the scene instance specification.
diff --git a/src/esp/bindings/PhysicsObjectBindings.cpp b/src/esp/bindings/PhysicsObjectBindings.cpp
index eb046db50b..8adf64e226 100644
--- a/src/esp/bindings/PhysicsObjectBindings.cpp
+++ b/src/esp/bindings/PhysicsObjectBindings.cpp
@@ -443,7 +443,7 @@ void declareArticulatedObjectWrapper(py::module& m,
.c_str())
.def_property_readonly(
"global_scale", &ManagedArticulatedObject::getGlobalScale,
- R"(The uniform global scaling applied to this object during import.)")
+ R"(The global scaling vector applied to this object during import.)")
.def("get_link_scene_node", &ManagedArticulatedObject::getLinkSceneNode,
("Get the scene node for this " + objType +
"'s articulated link specified by the passed "
diff --git a/src/esp/metadata/URDFParser.cpp b/src/esp/metadata/URDFParser.cpp
index 46f17de59b..f30ebe0d5b 100644
--- a/src/esp/metadata/URDFParser.cpp
+++ b/src/esp/metadata/URDFParser.cpp
@@ -29,18 +29,17 @@ namespace esp {
namespace metadata {
namespace URDF {
-void Model::scaleShape(Shape& shape, float scale) {
+void Model::scaleShape(Shape& shape, const Mn::Vector3& scale) {
shape.m_linkLocalFrame.translation() *= scale;
switch (shape.m_geometry.m_type) {
+ case GEOM_SPHERE:
case GEOM_MESH: {
shape.m_geometry.m_meshScale *= scale;
} break;
case GEOM_BOX: {
shape.m_geometry.m_boxSize *= scale;
} break;
- case GEOM_SPHERE: {
- shape.m_geometry.m_sphereRadius *= double(scale);
- } break;
+
case GEOM_CAPSULE:
case GEOM_CYLINDER: {
shape.m_geometry.m_capsuleRadius *= double(scale);
@@ -51,14 +50,14 @@ void Model::scaleShape(Shape& shape, float scale) {
}
}
-void Model::setGlobalScaling(float scaling) {
+void Model::setGlobalScaling(const Mn::Vector3& scaling) {
if (scaling == m_globalScaling) {
// do nothing
return;
}
// Need to re-scale model, so use the ratio of new to current scale
- float scaleCorrection = scaling / m_globalScaling;
+ auto scaleCorrection = scaling / m_globalScaling;
// scale all transforms' translations
for (const auto& link : m_links) {
@@ -453,7 +452,7 @@ bool Parser::parseLink(const std::shared_ptr<Model>& model,
ESP_VERY_VERBOSE() << link.m_name;
return false;
}
- link.m_inertia.m_mass *= model->getGlobalScaling();
+ link.m_inertia.m_mass *= model->getGlobalScaling().product();
} else {
if ((strlen(linkName) == 5) && (strncmp(linkName, "world", 5)) == 0) {
link.m_inertia.m_mass = 0.f;
diff --git a/src/esp/metadata/URDFParser.h b/src/esp/metadata/URDFParser.h
index c22284f8f2..13d3c9bd25 100644
--- a/src/esp/metadata/URDFParser.h
+++ b/src/esp/metadata/URDFParser.h
@@ -345,12 +345,12 @@ class Model {
* @brief Set global scaling and re-scale an existing model. Modifies various
* internal parameters.
*
- * @param scaling The new absolute uniform scale.
+ * @param scaling The new absolute scale.
*/
- void setGlobalScaling(float scaling);
+ void setGlobalScaling(const Mn::Vector3& scaling);
//! Get the currently configured global model scaling
- float getGlobalScaling() const { return m_globalScaling; }
+ Mn::Vector3 getGlobalScaling() const { return m_globalScaling; }
/**
* @brief Set scaling for mass from initial values configured in URDF.
@@ -369,13 +369,13 @@ class Model {
// scaling values which can be applied to the model after parsing
//! Global euclidean scaling applied to the model's transforms, asset scales,
//! and prismatic joint limits. Does not affect mass.
- float m_globalScaling = 1.0;
+ Mn::Vector3 m_globalScaling = Mn::Vector3(1.0);
//! Mass scaling of the model's Link inertias.
float m_massScaling = 1.0;
//! Scale the transformation and parameters of a Shape
- void scaleShape(Shape& shape, float scale);
+ void scaleShape(Shape& shape, const Mn::Vector3& scale);
}; // class model
/**
@@ -383,9 +383,14 @@ class Model {
* representation.
*/
class Parser {
- // URDF file path of last load call
- std::string sourceFilePath_;
+ public:
+ Parser() = default;
+ // parse a loaded URDF string into relevant general data structures
+ // return false if the string is not a valid urdf or other error causes abort
+ bool parseURDF(const std::string& filename, std::shared_ptr<Model>& model);
+
+ private:
/**
* @brief Parse a transform into a Matrix4.
*
@@ -522,16 +527,8 @@ class Parser {
*/
bool validateMeshFile(std::string& filename);
- public:
- Parser() = default;
-
- // parse a loaded URDF string into relevant general data structures
- // return false if the string is not a valid urdf or other error causes abort
- bool parseURDF(const std::string& filename, std::shared_ptr<Model>& model);
-
- // This is no longer used, instead set the urdf and physics subsystem to
- // veryverbose, i.e. export HABITAT_SIM_LOG="urdf,physics=veryverbose" bool
- // logMessages = false;
+ // URDF file path of last load call
+ std::string sourceFilePath_;
};
} // namespace URDF
diff --git a/src/esp/metadata/attributes/AbstractObjectAttributes.h b/src/esp/metadata/attributes/AbstractObjectAttributes.h
index be9258bb38..f7392e3a2a 100644
--- a/src/esp/metadata/attributes/AbstractObjectAttributes.h
+++ b/src/esp/metadata/attributes/AbstractObjectAttributes.h
@@ -26,22 +26,34 @@ class AbstractObjectAttributes : public AbstractAttributes {
~AbstractObjectAttributes() override = default;
/**
- * @brief Scale of the ojbect
+ * @brief Set the scale of the object
*/
void setScale(const Magnum::Vector3& scale) { set("scale", scale); }
+ /**
+ * @brief Get the scale of the object
+ */
Magnum::Vector3 getScale() const { return get<Magnum::Vector3>("scale"); }
/**
- * @brief collision shape inflation margin
+ * @brief Set the collision shape inflation margin
*/
void setMargin(double margin) { set("margin", margin); }
+ /**
+ * @brief Get the collision shape inflation margin
+ */
double getMargin() const { return get<double>("margin"); }
- // if object should be checked for collisions - if other objects can collide
- // with this object
+ /**
+ * @brief Set if object should be checked for collisions - if other objects
+ * can collide with this object
+ */
void setIsCollidable(bool isCollidable) {
set("is_collidable", isCollidable);
}
+ /**
+ * @brief Get if object should be checked for collisions - if other objects
+ * can collide with this object
+ */
bool getIsCollidable() const { return get<bool>("is_collidable"); }
/**
@@ -49,7 +61,7 @@ class AbstractObjectAttributes : public AbstractAttributes {
*/
void setOrientUp(const Magnum::Vector3& orientUp) { set("up", orientUp); }
/**
- * @brief get default up orientation for object/stage mesh
+ * @brief Get default up orientation for object/stage mesh
*/
Magnum::Vector3 getOrientUp() const { return get<Magnum::Vector3>("up"); }
/**
@@ -59,7 +71,7 @@ class AbstractObjectAttributes : public AbstractAttributes {
set("front", orientFront);
}
/**
- * @brief get default forward orientation for object/stage mesh
+ * @brief Get default forward orientation for object/stage mesh
*/
Magnum::Vector3 getOrientFront() const {
return get<Magnum::Vector3>("front");
@@ -576,7 +588,7 @@ class AbstractObjectAttributes : public AbstractAttributes {
std::string getObjectInfoHeaderInternal() const override;
/**
- * @brief get AbstractObject specific info header
+ * @brief Get AbstractObject specific info header
*/
virtual std::string getAbstractObjectInfoHeaderInternal() const {
return "";
@@ -588,7 +600,7 @@ class AbstractObjectAttributes : public AbstractAttributes {
*/
std::string getObjectInfoInternal() const override;
/**
- * @brief get AbstractObject specific info for csv string
+ * @brief Get AbstractObject specific info for csv string
*/
virtual std::string getAbstractObjectInfoInternal() const { return ""; };
diff --git a/src/esp/metadata/attributes/ArticulatedObjectAttributes.cpp b/src/esp/metadata/attributes/ArticulatedObjectAttributes.cpp
index ba19c0b70c..d7c20c6af8 100644
--- a/src/esp/metadata/attributes/ArticulatedObjectAttributes.cpp
+++ b/src/esp/metadata/attributes/ArticulatedObjectAttributes.cpp
@@ -36,7 +36,7 @@ ArticulatedObjectAttributes::ArticulatedObjectAttributes(
initTranslated("shader_type",
getShaderTypeName(ObjectInstanceShaderType::Material));
- init("uniform_scale", 1.0f);
+ init("scale", Mn::Vector3{1.0, 1.0, 1.0});
init("mass_scale", 1.0);
// Initialize these so they exist in the configuration
@@ -56,8 +56,8 @@ void ArticulatedObjectAttributes::writeValuesToJson(
writeValueToJson("urdf_filepath", jsonObj, allocator);
writeValueToJson("render_asset", jsonObj, allocator);
writeValueToJson("semantic_id", jsonObj, allocator);
- if (getUniformScale() != 1.0f) {
- writeValueToJson("uniform_scale", jsonObj, allocator);
+ if (getScale() != Mn::Vector3(1.0, 1.0, 1.0)) {
+ writeValueToJson("scale", jsonObj, allocator);
}
if (getMassScale() != 1.0) {
writeValueToJson("mass_scale", jsonObj, allocator);
@@ -70,14 +70,14 @@ void ArticulatedObjectAttributes::writeValuesToJson(
} // ArticulatedObjectAttributes::writeValuesToJson
std::string ArticulatedObjectAttributes::getObjectInfoHeaderInternal() const {
- return "URDF Filepath,Render Asset,Semantic ID,Uniform Scale,Mass Scale,Base "
+ return "URDF Filepath,Render Asset,Semantic ID,Scale,Mass Scale,Base "
"Type,Inertia Source,Link Order,Render Mode,Current Shader Type,";
} // ArticulatedObjectAttributes::getObjectInfoHeaderInternal
std::string ArticulatedObjectAttributes::getObjectInfoInternal() const {
return Cr::Utility::formatString(
"{},{},{},{},{},{},{},{},{},{}", getURDFPath(), getRenderAssetHandle(),
- getAsString("semantic_id"), getAsString("uniform_scale"),
+ getAsString("semantic_id"), getAsString("scale"),
getAsString("mass_scale"), getAOBaseTypeName(getBaseType()),
getAOInertiaSourceName(getInertiaSource()),
getAOLinkOrderName(getLinkOrder()), getAORenderModeName(getRenderMode()),
diff --git a/src/esp/metadata/attributes/ArticulatedObjectAttributes.h b/src/esp/metadata/attributes/ArticulatedObjectAttributes.h
index 87998b450d..ed544dce3f 100644
--- a/src/esp/metadata/attributes/ArticulatedObjectAttributes.h
+++ b/src/esp/metadata/attributes/ArticulatedObjectAttributes.h
@@ -82,15 +82,13 @@ class ArticulatedObjectAttributes : public AbstractAttributes {
}
/**
- * @brief Set uniform scaling of the articulated object.
+ * @brief Set scaling vector of the articulated object.
*/
- void setUniformScale(float scale) { set("uniform_scale", scale); }
+ void setScale(const Magnum::Vector3& scale) { set("scale", scale); }
/**
- * @brief Get uniform scaling of the articulated object.
+ * @brief Get the scale vector of the articulated object.
*/
- float getUniformScale() const {
- return static_cast<float>(get<double>("uniform_scale"));
- }
+ Magnum::Vector3 getScale() const { return get<Magnum::Vector3>("scale"); }
/**
* @brief Set mass scaling of the articulated object.
diff --git a/src/esp/metadata/managers/AOAttributesManager.cpp b/src/esp/metadata/managers/AOAttributesManager.cpp
index 5b047ef636..0f003c1b03 100644
--- a/src/esp/metadata/managers/AOAttributesManager.cpp
+++ b/src/esp/metadata/managers/AOAttributesManager.cpp
@@ -61,10 +61,10 @@ void AOAttributesManager::setValsFromJSONDoc(
aoAttr->setSemanticId(semantic_id);
});
- // load the uniform scaling
- io::jsonIntoSetter<double>(
- jsonConfig, "uniform_scale",
- [aoAttr](double scale) { aoAttr->setUniformScale(scale); });
+ // scale
+ io::jsonIntoConstSetter<Magnum::Vector3>(
+ jsonConfig, "scale",
+ [aoAttr](const Magnum::Vector3& scale) { aoAttr->setScale(scale); });
// load the mass scaling
io::jsonIntoSetter<double>(jsonConfig, "mass_scale", [aoAttr](double scale) {
diff --git a/src/esp/physics/ArticulatedObject.h b/src/esp/physics/ArticulatedObject.h
index 54f73bc600..00051ee718 100644
--- a/src/esp/physics/ArticulatedObject.h
+++ b/src/esp/physics/ArticulatedObject.h
@@ -322,7 +322,7 @@ class ArticulatedObject : public esp::physics::PhysicsObjectBase {
* @brief Get the uniform global scaling applied to this object during import.
* @return The global scaling applied to the object.
*/
- float getGlobalScale() const { return globalScale_; }
+ Mn::Vector3 getGlobalScale() const { return globalScale_; }
/**
* @brief Get a const reference to an ArticulatedLink SceneNode for
@@ -1108,7 +1108,7 @@ class ArticulatedObject : public esp::physics::PhysicsObjectBase {
bool autoClampJointLimits_ = false;
//! Cache the global scaling from the source model. Set during import.
- float globalScale_ = 1.0;
+ Mn::Vector3 globalScale_ = Mn::Vector3(1.0);
//! Cache the cumulative bounding box of the AO heirarchy in root local space.
//! This is necessary because the child links are not children of the root
diff --git a/src/esp/physics/PhysicsManager.cpp b/src/esp/physics/PhysicsManager.cpp
index 35875e2dd5..7b76e61be9 100644
--- a/src/esp/physics/PhysicsManager.cpp
+++ b/src/esp/physics/PhysicsManager.cpp
@@ -429,7 +429,7 @@ int PhysicsManager::addArticulatedObjectFromURDF(
const std::string& filepath,
DrawableGroup* drawables,
bool fixedBase,
- float globalScale,
+ const Mn::Vector3& globalScale,
float massScale,
bool forceReload,
bool maintainLinkOrder,
@@ -450,7 +450,7 @@ int PhysicsManager::addArticulatedObjectFromURDF(
true);
// Set pertinent values
- artObjAttributes->setUniformScale(globalScale);
+ artObjAttributes->setScale(globalScale);
artObjAttributes->setMassScale(static_cast<double>(massScale));
artObjAttributes->setBaseType(metadata::attributes::getAOBaseTypeName(
@@ -529,16 +529,21 @@ int PhysicsManager::addArticulatedObjectInstance(
artObjAttributes->setShaderType(getShaderTypeName(artObjShaderType));
}
- // set uniform scale
- artObjAttributes->setUniformScale(artObjAttributes->getUniformScale() *
- aObjInstAttributes->getUniformScale());
+ // set scaling values for this instance of articulated object attributes -
+ // first uniform scaling
+ artObjAttributes->setScale(artObjAttributes->getScale() *
+ aObjInstAttributes->getUniformScale());
+ // set scaling values for this instance of object attributes - next
+ // non-uniform scaling
+ artObjAttributes->setScale(artObjAttributes->getScale() *
+ aObjInstAttributes->getNonUniformScale());
// If boolean specifies to do so, apply geometric scaling to mass (product of
// scale values)
if (aObjInstAttributes->getApplyScaleToMass()) {
artObjAttributes->setMassScale(
artObjAttributes->getMassScale() *
- static_cast<double>(artObjAttributes->getUniformScale()));
+ static_cast<double>(artObjAttributes->getScale().product()));
}
// set scaled mass
diff --git a/src/esp/physics/PhysicsManager.h b/src/esp/physics/PhysicsManager.h
index 65ffbb62d2..2c934c0cf2 100644
--- a/src/esp/physics/PhysicsManager.h
+++ b/src/esp/physics/PhysicsManager.h
@@ -520,8 +520,8 @@ class PhysicsManager : public std::enable_shared_from_this<PhysicsManager> {
* query Simulator to retrieve a group.
* @param fixedBase Whether the base of the @ref ArticulatedObject should be
* fixed.
- * @param globalScale A scale multiplier to be applied uniformly in 3
- * dimensions to the entire @ref ArticulatedObject.
+ * @param globalScale A scale multiplier to be applied in 3 dimensions to the
+ * entire @ref ArticulatedObject.
* @param massScale A scale multiplier to be applied to the mass of the all
* the components of the @ref ArticulatedObject.
* @param forceReload If true, reload the source URDF from file, replacing the
@@ -541,7 +541,7 @@ class PhysicsManager : public std::enable_shared_from_this<PhysicsManager> {
const std::string& filepath,
DrawableGroup* drawables = nullptr,
bool fixedBase = false,
- float globalScale = 1.0,
+ const Mn::Vector3& globalScale = {1.0, 1.0, 1.0},
float massScale = 1.0,
bool forceReload = false,
bool maintainLinkOrder = false,
diff --git a/src/esp/physics/URDFImporter.cpp b/src/esp/physics/URDFImporter.cpp
index 7d12cdbe8c..77800cdf2c 100644
--- a/src/esp/physics/URDFImporter.cpp
+++ b/src/esp/physics/URDFImporter.cpp
@@ -249,7 +249,7 @@ void URDFImporter::importURDFAssets(
return;
}
// re-scale the cached model
- activeModel_->setGlobalScaling(artObjAttributes->getUniformScale());
+ activeModel_->setGlobalScaling(artObjAttributes->getScale());
activeModel_->setMassScaling(artObjAttributes->getMassScale());
for (size_t linkIx = 0; linkIx < activeModel_->m_links.size(); ++linkIx) {
diff --git a/src/esp/physics/bullet/BulletPhysicsManager.cpp b/src/esp/physics/bullet/BulletPhysicsManager.cpp
index ce09ed0b3d..ef1deecf12 100644
--- a/src/esp/physics/bullet/BulletPhysicsManager.cpp
+++ b/src/esp/physics/bullet/BulletPhysicsManager.cpp
@@ -330,7 +330,7 @@ bool BulletPhysicsManager::attachLinkGeometry(
visualMeshInfo.type = AssetType::Primitive;
// default sphere prim is already constructed w/ radius 1
visualMeshInfo.filepath = "icosphereSolid_subdivs_1";
- scale = Mn::Vector3(visual.m_geometry.m_sphereRadius);
+ scale = visual.m_geometry.m_meshScale;
} break;
case metadata::URDF::GEOM_MESH: {
scale = visual.m_geometry.m_meshScale;
@@ -944,8 +944,7 @@ void BulletPhysicsManager::instantiateSkinnedModel(
assets::RenderAssetInstanceCreationInfo creationInfo;
creationInfo.filepath = renderAssetPath;
creationInfo.lightSetupKey = lightSetupKey;
- creationInfo.scale =
- artObjAttributes->getUniformScale() * Mn::Vector3(1.f, 1.f, 1.f);
+ creationInfo.scale = artObjAttributes->getScale();
esp::assets::RenderAssetInstanceCreationInfo::Flags flags;
flags |= esp::assets::RenderAssetInstanceCreationInfo::Flag::IsRGBD;
flags |= esp::assets::RenderAssetInstanceCreationInfo::Flag::IsSemantic;
diff --git a/src/esp/physics/bullet/BulletURDFImporter.cpp b/src/esp/physics/bullet/BulletURDFImporter.cpp
index 8b584b41e9..538b095e1b 100644
--- a/src/esp/physics/bullet/BulletURDFImporter.cpp
+++ b/src/esp/physics/bullet/BulletURDFImporter.cpp
@@ -86,6 +86,7 @@ btCollisionShape* BulletURDFImporter::convertURDFToCollisionShape(
float radius = collision->m_geometry.m_sphereRadius;
auto sphereShape = std::make_unique<btSphereShape>(radius);
shape = sphereShape.get();
+ shape->setLocalScaling(btVector3(collision->m_geometry.m_meshScale));
shape->setMargin(gUrdfDefaultCollisionMargin);
linkChildShapes.emplace_back(std::move(sphereShape));
break;
diff --git a/src/esp/physics/objectManagers/ArticulatedObjectManager.cpp b/src/esp/physics/objectManagers/ArticulatedObjectManager.cpp
index 959d596eab..2ec8092594 100644
--- a/src/esp/physics/objectManagers/ArticulatedObjectManager.cpp
+++ b/src/esp/physics/objectManagers/ArticulatedObjectManager.cpp
@@ -42,8 +42,9 @@ ArticulatedObjectManager::addArticulatedObjectFromURDF(
const std::string& lightSetup) {
if (auto physMgr = this->getPhysicsManager()) {
int newAObjID = physMgr->addArticulatedObjectFromURDF(
- filepath, nullptr, fixedBase, globalScale, massScale, forceReload,
- maintainLinkOrder, intertiaFromURDF, lightSetup);
+ filepath, nullptr, fixedBase, {globalScale, globalScale, globalScale},
+ massScale, forceReload, maintainLinkOrder, intertiaFromURDF,
+ lightSetup);
return this->getObjectCopyByID(newAObjID);
}
return nullptr;
diff --git a/src/esp/physics/objectManagers/ArticulatedObjectManager.h b/src/esp/physics/objectManagers/ArticulatedObjectManager.h
index fbca227396..2d66f4dc65 100644
--- a/src/esp/physics/objectManagers/ArticulatedObjectManager.h
+++ b/src/esp/physics/objectManagers/ArticulatedObjectManager.h
@@ -24,8 +24,10 @@ class ArticulatedObjectManager
/**
* @brief Load, parse, and import a URDF file instantiating an @ref
- * BulletArticulatedObject in the world. This version does not require
- * drawables to be specified.
+ * BulletArticulatedObject in the world. The values passed as arguments will
+ * override the specified values in any existing @ref ArticulatedObjectAttributes
+ * describing this URDF's construction.
+ *
* @param filepath The fully-qualified filename for the URDF file describing
* the model the articulated object is to be built from.
* @param fixedBase Whether the base of the @ref ArticulatedObject should be
@@ -56,8 +58,10 @@ class ArticulatedObjectManager
/**
* @brief Cast to BulletArticulatedObject version. Load, parse, and import a
- * URDF file instantiating an @ref BulletArticulatedObject in the world. This
- * version does not require drawables to be specified.
+ * URDF file instantiating an @ref BulletArticulatedObject in the world. The
+ * values passed as arguments will override the specified values in any
+ * existing @ref ArticulatedObjectAttributes describing this URDF's construction.
+ *
* @param filepath The fully-qualified filename for the URDF file describing
* the model the articulated object is to be built from.
* @param fixedBase Whether the base of the @ref ArticulatedObject should be
diff --git a/src/esp/physics/objectWrappers/ManagedArticulatedObject.h b/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
index 608f577df1..b82766d2f4 100644
--- a/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
+++ b/src/esp/physics/objectWrappers/ManagedArticulatedObject.h
@@ -41,11 +41,11 @@ class ManagedArticulatedObject
return nullptr;
} // getInitializationAttributes()
- float getGlobalScale() const {
+ Mn::Vector3 getGlobalScale() const {
if (auto sp = getObjectReference()) {
return sp->getGlobalScale();
}
- return 1.0;
+ return Mn::Vector3(1.0);
}
scene::SceneNode* getLinkSceneNode(int linkId = BASELINK_ID) const {
diff --git a/src/tests/AttributesConfigsTest.cpp b/src/tests/AttributesConfigsTest.cpp
index 97d8bb04f4..aa4baf5122 100644
--- a/src/tests/AttributesConfigsTest.cpp
+++ b/src/tests/AttributesConfigsTest.cpp
@@ -1869,6 +1869,8 @@ void AttributesConfigsTest::testArticulatedObjectAttrVals(
const std::string& assetPath,
const std::string& urdfPath) {
// match values set in test JSON
+ CORRADE_COMPARE(artObjAttr->getScale(), Mn::Vector3(4, 3, 2));
+ CORRADE_COMPARE(artObjAttr->getMassScale(), 2.1);
CORRADE_COMPARE(artObjAttr->getURDFFullPath(), urdfPath);
CORRADE_COMPARE(artObjAttr->getRenderAssetFullPath(), assetPath);
CORRADE_COMPARE(artObjAttr->getSemanticId(), 100);
@@ -2014,6 +2016,8 @@ void AttributesConfigsTest::testArticulatedObjectAttrVals(
void AttributesConfigsTest::testArticulatedObjectJSONLoad() {
// build JSON sample config
const std::string& jsonString = R"({
+ "scale":[4,3,2],
+ "mass_scale":2.1,
"urdf_filepath": "urdf_test_file.urdf",
"render_asset": "testAO_JSONRenderAsset.glb",
"semantic_id": 100,
diff --git a/src/tests/IOTest.cpp b/src/tests/IOTest.cpp
index 100ee1ee3c..7121899127 100644
--- a/src/tests/IOTest.cpp
+++ b/src/tests/IOTest.cpp
@@ -215,15 +215,15 @@ void IOTest::parseURDF() {
CORRADE_COMPARE(urdfModel->m_materials.size(), 3);
// check global scaling
- CORRADE_COMPARE(urdfModel->getGlobalScaling(), 1.0);
+ CORRADE_COMPARE(urdfModel->getGlobalScaling(), Mn::Vector3{1.0});
// this link is a mesh shape, so check the mesh scale
CORRADE_COMPARE(
urdfModel->getLink(1)->m_collisionArray.back().m_geometry.m_type, 5);
CORRADE_COMPARE(
urdfModel->getLink(1)->m_collisionArray.back().m_geometry.m_meshScale,
Mn::Vector3{1.0});
- urdfModel->setGlobalScaling(2.0);
- CORRADE_COMPARE(urdfModel->getGlobalScaling(), 2.0);
+ urdfModel->setGlobalScaling(Mn::Vector3{2.0});
+ CORRADE_COMPARE(urdfModel->getGlobalScaling(), Mn::Vector3{2.0});
CORRADE_COMPARE(
urdfModel->getLink(1)->m_collisionArray.back().m_geometry.m_meshScale,
Mn::Vector3{2.0});
@@ -238,7 +238,7 @@ void IOTest::parseURDF() {
// test overwrite re-load
parser.parseURDF(attributes->getURDFPath(), urdfModel);
// should have default values again
- CORRADE_COMPARE(urdfModel->getGlobalScaling(), 1.0);
+ CORRADE_COMPARE(urdfModel->getGlobalScaling(), Mn::Vector3{1.0});
CORRADE_COMPARE(urdfModel->getMassScaling(), 1.0);
CORRADE_COMPARE(
urdfModel->getLink(1)->m_collisionArray.back().m_geometry.m_meshScale,