Meshcat can handle Mesh(foo.gltf)

Meshcat passes embedded .gltf files along to the meshcat session. This includes an incidental recentering of the objects created in the meshcat_manual_test.cc. This depends on updates to meshcat itself.
RobotLocomotion · Jun 21, 2023 · 89d7bfc · 89d7bfc
1 parent 0c48fdc
commit 89d7bfc
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Showing 5 changed files with 284 additions and 62 deletions.
diff --git a/geometry/meshcat.cc b/geometry/meshcat.cc
@@ -372,8 +372,8 @@ class MeshcatShapeReifier : public ShapeReifier {
                             std::istreambuf_iterator<char>());
             meshfile_object.resources.try_emplace(
                 map, std::string("data:image/png;base64,") +
-                          common_robotics_utilities::base64_helpers::Encode(
-                              map_data));
+                         common_robotics_utilities::base64_helpers::Encode(
+                             map_data));
           } else {
             drake::log()->warn(
                 "Meshcat: Failed to load texture. \"{}\" references {}, but "
@@ -391,7 +391,18 @@ class MeshcatShapeReifier : public ShapeReifier {
       matrix(0, 0) = mesh.scale();
       matrix(1, 1) = mesh.scale();
       matrix(2, 2) = mesh.scale();
-    } else {  // not obj or no mtllib.
+    } else if (format == "gltf") {
+      auto& meshfile_object =
+          lumped.object.emplace<internal::MeshFileObjectData>();
+      meshfile_object.uuid = uuids::to_string((*uuid_generator_)());
+      meshfile_object.format = std::move(format);
+      meshfile_object.data = std::move(mesh_data);
+      Eigen::Map<Eigen::Matrix4d> matrix(meshfile_object.matrix);
+      matrix(0, 0) = mesh.scale();
+      matrix(1, 1) = mesh.scale();
+      matrix(2, 2) = mesh.scale();
+    } else {
+      // neither obj with mtllib nor gltf.
       auto geometry = std::make_unique<internal::MeshFileGeometryData>();
       geometry->uuid = uuids::to_string((*uuid_generator_)());
       geometry->format = std::move(format);
@@ -404,7 +415,7 @@ class MeshcatShapeReifier : public ShapeReifier {
       matrix(1, 1) = mesh.scale();
       matrix(2, 2) = mesh.scale();
     }
-    }
+  }
 
   void ImplementGeometry(const Box& box, void* data) override {
     DRAKE_DEMAND(data != nullptr);

diff --git a/geometry/meshcat.h b/geometry/meshcat.h
@@ -180,6 +180,9 @@ class Meshcat {
               See @ref meshcat_path "Meshcat paths" for the semantics.
   @param shape a Shape that specifies the geometry of the object.
   @param rgba an Rgba that specifies the (solid) color of the object.
+  @note If `shape` is a mesh, the file referred to can be either an .obj file
+  or an _embedded_ .gltf file (it has all geometry data and texture data
+  contained within the single .gltf file).
   @pydrake_mkdoc_identifier{shape}
   */
   void SetObject(std::string_view path, const Shape& shape,

diff --git a/geometry/render/test/meshes/cube.gltf b/geometry/render/test/meshes/cube.gltf
@@ -0,0 +1,196 @@
+{
+	"asset":{
+		"generator":"Khronos glTF Blender I/O v3.5.30",
+		"version":"2.0"
+	},
+	"extensionsUsed":[
+		"KHR_materials_specular",
+		"KHR_materials_ior"
+	],
+	"scene":0,
+	"scenes":[
+		{
+			"name":"Scene",
+			"nodes":[
+				0
+			]
+		}
+	],
+	"nodes":[
+		{
+			"mesh":0,
+			"name":"Cube"
+		}
+	],
+	"materials":[
+		{
+			"doubleSided":true,
+			"extensions":{
+				"KHR_materials_specular":{
+					"specularColorTexture":{
+						"index":0
+					},
+					"specularColorFactor":[
+						1.3258044921473595,
+						1.3258044921473595,
+						3.377744017936324
+					]
+				},
+				"KHR_materials_ior":{
+					"ior":1.4500000476837158
+				}
+			},
+			"name":"Material",
+			"normalTexture":{
+				"index":1
+			},
+			"pbrMetallicRoughness":{
+				"baseColorFactor":[
+					0.13678215503692627,
+					0.4000000715255737,
+					0.12162473320961,
+					1
+				],
+				"metallicRoughnessTexture":{
+					"index":2
+				}
+			}
+		}
+	],
+	"meshes":[
+		{
+			"name":"Cube.001",
+			"primitives":[
+				{
+					"attributes":{
+						"POSITION":0,
+						"TEXCOORD_0":1,
+						"NORMAL":2
+					},
+					"indices":3,
+					"material":0
+				}
+			]
+		}
+	],
+	"textures":[
+		{
+			"sampler":0,
+			"source":0
+		},
+		{
+			"sampler":0,
+			"source":1
+		},
+		{
+			"sampler":0,
+			"source":2
+		}
+	],
+	"images":[
+		{
+			"bufferView":4,
+			"mimeType":"image/png",
+			"name":"Image"
+		},
+		{
+			"bufferView":5,
+			"mimeType":"image/png",
+			"name":"normal"
+		},
+		{
+			"bufferView":6,
+			"mimeType":"image/png",
+			"name":"divot"
+		}
+	],
+	"accessors":[
+		{
+			"bufferView":0,
+			"componentType":5126,
+			"count":24,
+			"max":[
+				1,
+				1,
+				1
+			],
+			"min":[
+				-1,
+				-1,
+				-1
+			],
+			"type":"VEC3"
+		},
+		{
+			"bufferView":1,
+			"componentType":5126,
+			"count":24,
+			"type":"VEC2"
+		},
+		{
+			"bufferView":2,
+			"componentType":5126,
+			"count":24,
+			"type":"VEC3"
+		},
+		{
+			"bufferView":3,
+			"componentType":5123,
+			"count":36,
+			"type":"SCALAR"
+		}
+	],
+	"bufferViews":[
+		{
+			"buffer":0,
+			"byteLength":288,
+			"byteOffset":0,
+			"target":34962
+		},
+		{
+			"buffer":0,
+			"byteLength":192,
+			"byteOffset":288,
+			"target":34962
+		},
+		{
+			"buffer":0,
+			"byteLength":288,
+			"byteOffset":480,
+			"target":34962
+		},
+		{
+			"buffer":0,
+			"byteLength":72,
+			"byteOffset":768,
+			"target":34963
+		},
+		{
+			"buffer":0,
+			"byteLength":487,
+			"byteOffset":840
+		},
+		{
+			"buffer":0,
+			"byteLength":2114,
+			"byteOffset":1328
+		},
+		{
+			"buffer":0,
+			"byteLength":6253,
+			"byteOffset":3444
+		}
+	],
+	"samplers":[
+		{
+			"magFilter":9729,
+			"minFilter":9987
+		}
+	],
+	"buffers":[
+		{
+			"byteLength":9700,
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+		}
+	]
+}