Merge pull request #673 from gazebosim/scpeters/merge_6_main

Merge gz-common6 ➡️  main

Author: scpeters

.github/workflows/ci.yml

@@ -29,3 +29,8 @@ jobs:
       - name: Compile and test
         id: ci
         uses: gazebo-tooling/action-gz-ci@noble
+        with:
+          # codecov-enabled: true
+          cppcheck-enabled: true
+          cpplint-enabled: true
+          # doxygen-enabled: true

Changelog.md

@@ -4,6 +4,25 @@
 
 ## Gazebo Common 6.x
 
+### Gazebo Common 6.0.2 (2025-02-12)
+
+1. Add missing includes
+    * [Pull request #660](https://github.com/gazebosim/gz-common/pull/660)
+
+### Gazebo Common 6.0.1 (2024-12-17)
+
+1. Check normal presence before trying to read asMesh normals
+    * [Pull request #654](https://github.com/gazebosim/gz-common/pull/654)
+
+1. Include `math::Angle` since it is used here
+    * [Pull request #649](https://github.com/gazebosim/gz-common/pull/649)
+
+1. Adds EoL to example
+    * [Pull request #642](https://github.com/gazebosim/gz-common/pull/642)
+
+1. Remove gts references from documentation
+    * [Pull request #645](https://github.com/gazebosim/gz-common/pull/645)
+
 ## Gazebo Common 6.0.0 (2024-09-25)
 
 1. **Baseline:** this includes all changes from 5.6.0 and earlier.

events/include/gz/common/Event.hh

@@ -18,6 +18,7 @@
 #define GZ_COMMON_EVENT_HH_
 
 #include <atomic>
+#include <chrono>
 #include <functional>
 #include <list>
 #include <map>

graphics/include/gz/common/SubMesh.hh

@@ -405,6 +405,10 @@ namespace gz
       /// the primitive type is not TRIANGLES, or there are no triangles.
       public: double Volume() const;
 
+      /// \brief Verify that all indices point to a valid vertex in the submesh
+      /// \return True if all values of indices are valid, false otherwise.
+      public: bool HasValidIndices() const;
+
       /// \brief Private data pointer.
       GZ_UTILS_IMPL_PTR(dataPtr)
     };

graphics/src/AssimpLoader.cc

@@ -613,7 +613,8 @@ ImagePtr AssimpLoader::Implementation::LoadEmbeddedTexture(
 {
   if (_texture->mHeight == 0)
   {
-    Image::PixelFormatType format = Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT;
+    Image::PixelFormatType format =
+        Image::PixelFormatType::UNKNOWN_PIXEL_FORMAT;
     if (_texture->CheckFormat("png"))
     {
       format = Image::PixelFormatType::COMPRESSED_PNG;

graphics/src/AssimpLoader_TEST.cc

@@ -791,7 +791,8 @@ TEST_F(AssimpLoader, LoadGlbPbrAsset)
   EXPECT_NE(pbr->RoughnessMapData(), nullptr);
   // Check pixel values to test metallicroughness texture splitting
   EXPECT_FLOAT_EQ(pbr->MetalnessMapData()->Pixel(256, 256).R(), 0.0f);
-  EXPECT_FLOAT_EQ(pbr->RoughnessMapData()->Pixel(256, 256).R(), 124.0f / 255.0f);
+  EXPECT_FLOAT_EQ(pbr->RoughnessMapData()->Pixel(256, 256).R(),
+                  124.0f / 255.0f);
 
   // Bug in assimp 5.0.x that doesn't parse coordinate sets properly
   // \todo(iche033) Lightmaps are disabled for glb meshes

graphics/src/SubMesh.cc

@@ -625,10 +625,12 @@ struct Neighbors
 void SubMesh::RecalculateNormals()
 {
   if (this->dataPtr->primitiveType != SubMesh::TRIANGLES
-      || this->dataPtr->indices.empty()
       || this->dataPtr->indices.size() % 3u != 0)
     return;
 
+  if (!this->HasValidIndices())
+    return;
+
   // Reset all the normals
   for (auto &n : this->dataPtr->normals)
     n.Set(0, 0, 0);
@@ -743,6 +745,9 @@ std::string SubMesh::Name() const
 //////////////////////////////////////////////////
 double SubMesh::Volume() const
 {
+  if (!this->HasValidIndices())
+    return 0.0;
+
   double volume = 0.0;
   if (this->dataPtr->primitiveType == SubMesh::TRIANGLES)
   {
@@ -774,6 +779,20 @@ double SubMesh::Volume() const
   return volume;
 }
 
+//////////////////////////////////////////////////
+bool SubMesh::HasValidIndices() const
+{
+  if (this->dataPtr->indices.empty())
+    return false;
+
+  for (unsigned int idx = 0u; idx < this->dataPtr->indices.size(); ++idx)
+  {
+    if (this->dataPtr->indices[idx] >= this->dataPtr->vertices.size())
+      return false;
+  }
+  return true;
+}
+
 //////////////////////////////////////////////////
 NodeAssignment::NodeAssignment()
   : vertexIndex(0), nodeIndex(0), weight(0.0)

graphics/src/SubMesh_TEST.cc

@@ -598,3 +598,37 @@ TEST_F(SubMeshTest, NormalsRecalculation)
   // because of neighbour vertex
   ASSERT_NE(submesh->Normal(0), submesh->Normal(1));
 }
+
+/////////////////////////////////////////////////
+TEST_F(SubMeshTest, HasValidIndices)
+{
+  // Check empty submesh
+  auto submesh = std::make_shared<common::SubMesh>();
+  EXPECT_FALSE(submesh->HasValidIndices());
+
+  // Check box submesh
+  const common::Mesh *unitBox =
+    common::MeshManager::Instance()->MeshByName("unit_box");
+  ASSERT_TRUE(unitBox != nullptr);
+  auto unitBoxSubmesh = unitBox->SubMeshByIndex(0).lock();
+
+  // Submesh has valid indices and we should be able to calculate normals
+  // and volume
+  EXPECT_TRUE(unitBoxSubmesh->HasValidIndices());
+  unitBoxSubmesh->RecalculateNormals();
+  ASSERT_EQ(unitBoxSubmesh->VertexCount(), unitBoxSubmesh->NormalCount());
+  EXPECT_EQ(24u, unitBoxSubmesh->NormalCount());
+  EXPECT_DOUBLE_EQ(1.0, unitBoxSubmesh->Volume());
+
+  // Add some invalid indices
+  unitBoxSubmesh->AddIndex(100);
+  unitBoxSubmesh->AddIndex(101);
+  unitBoxSubmesh->AddIndex(102);
+
+  // Submesh has invalid indices so it is no longer able to update normals or
+  // compute volume.
+  EXPECT_FALSE(unitBoxSubmesh->HasValidIndices());
+  unitBoxSubmesh->RecalculateNormals();
+  EXPECT_EQ(24u, unitBoxSubmesh->NormalCount());
+  EXPECT_DOUBLE_EQ(0.0, unitBoxSubmesh->Volume());
+}

include/gz/common/Battery.hh

@@ -17,6 +17,7 @@
 #ifndef GZ_COMMON_BATTERY_HH_
 #define GZ_COMMON_BATTERY_HH_
 
+#include <cstdint>
 #include <functional>
 #include <map>
 #include <memory>

include/gz/common/Console.hh

@@ -129,11 +129,11 @@ namespace gz
       /// \return True when the initialization succeed or false otherwise.
       public: static bool Init(const std::string &_directory,
                                const std::string &_filename);
-     
+
       /// \brief Detach fhe file sink from the global logger. After this call,
       /// console logging will keep working but no file logging.
       public: static void Close();
-      
+
       /// \brief Get the full path of the directory where all the log files
       /// are stored.
       /// \return Full path of the directory.