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Add exportMeshes flag #110

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merged 1 commit into from
Oct 9, 2024
Merged

Add exportMeshes flag #110

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1 change: 1 addition & 0 deletions README.md
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Original file line number Diff line number Diff line change
Expand Up @@ -146,6 +146,7 @@ All internal groups are merged if they are maps, they are overwritten only if an
| `assignedCollisionGeometry` | Array | None | Structure for redefining the collision geometry for a given link. |
| `assignedColors` | Map | {} (Empty Map) | If a link is in this map, the color found in the SimMechanics file is substituted with the one passed through this map. The color is represented by a 4 element vector of containing numbers from 0 to 1 representing the red, green, blue and alpha component. |
| `meshFormat` | String | `stl_binary` | Format of the meshes exported. Allowed values: `stl_binary`, `stl_ascii`, `step` |
| `exportMeshes` | Boolean | True | If false, the meshes will not be exported. |

###### Assigned collision geometries (keys of elements of `assignedCollisionGeometry`)
| Attribute name | Type | Default Value | Description |
Expand Down
86 changes: 47 additions & 39 deletions src/creo2urdf/src/Creo2Urdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -635,7 +635,9 @@ void Creo2Urdf::readExportedFramesFromConfig() {

bool Creo2Urdf::addMeshAndExport(pfcModel_ptr component_handle, const std::string& mesh_transform)
{
bool export_mesh = true;
std::string file_extension = ".stl";
std::string meshFormat = "stl_binary";
std::string link_name = component_handle->GetFullName();
std::string renamed_link_name = link_name;

Expand All @@ -644,15 +646,26 @@ bool Creo2Urdf::addMeshAndExport(pfcModel_ptr component_handle, const std::strin
renamed_link_name = config["rename"][link_name].Scalar();
}

if (config["exportMeshes"].IsDefined())
{
export_mesh = config["exportMeshes"].as<bool>();
}


if (config["stringToRemoveFromMeshFileName"].IsDefined())
{
link_name.erase(link_name.find(config["stringToRemoveFromMeshFileName"].Scalar()),
config["stringToRemoveFromMeshFileName"].Scalar().length());
}
std::string meshFormat = "stl_binary";
if (config["meshFormat"].IsDefined()) {

// Make all alphabetic characters lowercase
if (config["forcelowercase"].IsDefined() && config["forcelowercase"].as<bool>())
{
std::transform(link_name.begin(), link_name.end(), link_name.begin(),
[](unsigned char c) { return std::tolower(c); });
}

if (config["meshFormat"].IsDefined()) {
meshFormat = config["meshFormat"].Scalar();
if (mesh_types_supported_extension_map.find(meshFormat) != mesh_types_supported_extension_map.end()) {
file_extension = mesh_types_supported_extension_map.at(meshFormat);
Expand All @@ -664,48 +677,44 @@ bool Creo2Urdf::addMeshAndExport(pfcModel_ptr component_handle, const std::strin
}
}
}

// Make all alphabetic characters lowercase
if (config["forcelowercase"].IsDefined() && config["forcelowercase"].as<bool>())

if (export_mesh)
{
std::transform(link_name.begin(), link_name.end(), link_name.begin(),
[](unsigned char c) { return std::tolower(c); });
}
std::string mesh_file_name = m_output_path + "\\" + link_name;

std::string mesh_file_name = m_output_path + "\\" + link_name;

if (meshFormat != "step") {
// We use ExportIntf3D for step format, applies the extension to the file name.
mesh_file_name += file_extension;
}
try {
if (meshFormat == "stl_binary") {
component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLBinaryExportInstructions().Create(mesh_transform.c_str())));
if (meshFormat != "step") {
// We use ExportIntf3D for step format, applies the extension to the file name.
mesh_file_name += file_extension;
}
else if(meshFormat =="stl_ascii") {
component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(mesh_transform.c_str())));
}
else if (meshFormat == "step") {
component_handle->ExportIntf3D(mesh_file_name.c_str(), pfcExportType::pfcEXPORT_STEP);
try {
if (meshFormat == "stl_binary") {
component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLBinaryExportInstructions().Create(mesh_transform.c_str())));
}
else if(meshFormat =="stl_ascii") {
component_handle->Export(mesh_file_name.c_str(), pfcExportInstructions::cast(pfcSTLASCIIExportInstructions().Create(mesh_transform.c_str())));
}
else if (meshFormat == "step") {
component_handle->ExportIntf3D(mesh_file_name.c_str(), pfcExportType::pfcEXPORT_STEP);
}
else {
return false;
}

}
else {
xcatchbegin
xcatchcip(defaultEx)
{
printToMessageWindow(": exception caught: " + string(pfcXPFC::cast(defaultEx)->GetMessage()));
return false;
}
xcatchend

}
xcatchbegin
xcatchcip(defaultEx)
{
printToMessageWindow(": exception caught: " + string(pfcXPFC::cast(defaultEx)->GetMessage()));
return false;
}
xcatchend

// Replace the first 5 bytes of the binary file with a string different than "solid"
// to avoid issues with stl parsers.
// For details see: https://github.com/icub-tech-iit/creo2urdf/issues/16
if (meshFormat == "stl_binary") {
sanitizeSTL(mesh_file_name);
// Replace the first 5 bytes of the binary file with a string different than "solid"
// to avoid issues with stl parsers.
// For details see: https://github.com/icub-tech-iit/creo2urdf/issues/16
if (meshFormat == "stl_binary") {
sanitizeSTL(mesh_file_name);
}
}

// Lets add the mesh to the link
Expand Down Expand Up @@ -740,8 +749,7 @@ bool Creo2Urdf::addMeshAndExport(pfcModel_ptr component_handle, const std::strin
}

// We assume there is only one of occurrence to replace
file_format.replace(file_format.find("%s"), file_format.length(), link_name);
file_format += file_extension;
file_format.replace(file_format.find("%s"), 2, link_name); // 2 is sizeof %s, in this way we keep the formatting extension

visualMesh.setFilename(file_format);

Expand Down