rust SDK: raw 3D meshes and example (#1010)

* implement support for raw 3D meshes (aka triangle soups)

* added raw_mesh rust example

* forgot to add those

* missed one

* Instance -> InstanceKey

* inherit pkg attrs

* crate level doc

* misbehaving features

* self review

* just format

* keep the global allocator stuff non magical

* Update examples/raw_mesh/src/main.rs

Co-authored-by: Emil Ernerfeldt <emil@rerun.io>

* addressed PR comments

* rust examples won't handle assets download for now

* i must be wrong about this, surely??

* the paths are fine this way

* lints

---------

Co-authored-by: Emil Ernerfeldt <emil@rerun.io>

Cargo.toml

@@ -1,6 +1,6 @@
 [workspace]
 resolver = "2"
-members = ["crates/*", "rerun_py", "run_wasm"]
+members = ["crates/*", "rerun_py", "run_wasm", "examples/raw_mesh"]
 
 [workspace.package]
 version = "0.1.0"
@@ -31,12 +31,12 @@ polars-core = "0.26"
 polars-lazy = "0.26"
 polars-ops = "0.26"
 puffin = "0.14"
+reqwest = { version = "0.11", default-features = false }
 thiserror = "1.0"
 tokio = "1.24"
 wgpu = { version = "0.15", default-features = false }
 wgpu-core = { version = "0.15", default-features = false }
 
-
 # Because gltf hasn't published a new version: https://github.com/gltf-rs/gltf/issues/357
 gltf = { git = "https://github.com/rerun-io/gltf", rev = "3c14ded73755d1ce9e47010edb06db63cb7e2cca" }
 

crates/re_analytics/Cargo.toml

@@ -25,10 +25,7 @@ derive_more.workspace = true
 
 [target.'cfg(not(target_arch = "wasm32"))'.dependencies]
 directories-next = "2"
-reqwest = { version = "0.11", default-features = false, features = [
-  "blocking",
-  "rustls-tls",
-] }
+reqwest = { workspace = true, features = ["blocking", "rustls-tls"] }
 
 [target.'cfg(target_arch = "wasm32")'.dependencies]
 web-sys = { version = "0.3.58", features = ["Storage"] }

crates/re_log_types/src/component_types/mesh3d.rs

@@ -1,3 +1,5 @@
+use std::sync::Arc;
+
 use arrow2::array::{FixedSizeBinaryArray, MutableFixedSizeBinaryArray};
 use arrow2::datatypes::DataType;
 use arrow2_convert::arrow_enable_vec_for_type;
@@ -72,25 +74,113 @@ impl ArrowDeserialize for MeshId {
 
 // ----------------------------------------------------------------------------
 
-// TODO(#749) Re-enable `RawMesh3D`
-// These seem totally unused at the moment and not even supported by the SDK
-#[derive(Clone, Debug, PartialEq)]
+// TODO(cmc): Let's make both mesh Component types use friendlier types for their inner elements
+// (e.g. positions should be a vec of Vec3D, transform should be a Mat4, etc).
+// This will also make error checking for invalid user data much nicer.
+//
+// But first let's do the python example and see how everything starts to take shape...
+
+// TODO(cmc): Let's move all the RefCounting stuff to the top-level.
+
+/// A raw "triangle soup" mesh.
+///
+/// ```
+/// # use re_log_types::component_types::RawMesh3D;
+/// # use arrow2_convert::field::ArrowField;
+/// # use arrow2::datatypes::{DataType, Field, UnionMode};
+/// assert_eq!(
+///     RawMesh3D::data_type(),
+///     DataType::Struct(vec![
+///         Field::new("mesh_id", DataType::FixedSizeBinary(16), false),
+///         Field::new("positions", DataType::List(Box::new(
+///             Field::new("item", DataType::Float32, false)),
+///         ), false),
+///         Field::new("indices", DataType::List(Box::new(
+///             Field::new("item", DataType::UInt32, false)),
+///         ), true),
+///         Field::new("normals", DataType::List(Box::new(
+///             Field::new("item", DataType::Float32, false)),
+///         ), true),
+///     ]),
+/// );
+/// ```
+#[derive(ArrowField, ArrowSerialize, ArrowDeserialize, Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct RawMesh3D {
     pub mesh_id: MeshId,
-    pub positions: Vec<[f32; 3]>,
-    pub indices: Vec<[u32; 3]>,
+    /// The flattened positions array of this mesh.
+    ///
+    /// Meshes are always triangle lists, i.e. the length of this vector should always be
+    /// divisible by 3.
+    pub positions: Vec<f32>,
+    /// Optionally, the flattened indices array for this mesh.
+    ///
+    /// Meshes are always triangle lists, i.e. the length of this vector should always be
+    /// divisible by 3.
+    pub indices: Option<Vec<u32>>,
+    /// Optionally, the flattened normals array for this mesh.
+    ///
+    /// If specified, this must match the length of `Self::positions`.
+    pub normals: Option<Vec<f32>>,
+    // TODO(cmc): We need to support vertex colors and/or texturing, otherwise it's pretty
+    // hard to see anything with complex enough meshes (and hovering doesn't really help
+    // when everything's white).
+    // pub colors: Option<Vec<u8>>,
+    // pub texcoords: Option<Vec<f32>>,
+}
+
+impl RawMesh3D {
+    pub fn sanity_check(&self) {
+        assert!(self.positions.len() % 3 == 0);
+        if let Some(indices) = &self.indices {
+            assert!(indices.len() % 3 == 0);
+        }
+        if let Some(normals) = &self.normals {
+            assert!(normals.len() == self.positions.len());
+        }
+    }
+
+    pub fn num_triangles(&self) -> usize {
+        // TODO(cmc): will need to properly expose actual mesh-related errors all the way down to
+        // the SDKs soon, but right now this will do.
+        #[cfg(debug_assertions)]
+        self.sanity_check();
+
+        self.positions.len() / 3
+    }
 }
 
 // ----------------------------------------------------------------------------
 
 /// Compressed/encoded mesh format
+///
+/// ```
+/// # use re_log_types::component_types::EncodedMesh3D;
+/// # use arrow2_convert::field::ArrowField;
+/// # use arrow2::datatypes::{DataType, Field, UnionMode};
+/// assert_eq!(
+///     EncodedMesh3D::data_type(),
+///     DataType::Struct(vec![
+///         Field::new("mesh_id", DataType::FixedSizeBinary(16), false),
+///         Field::new("format", DataType::Union(vec![
+///             Field::new("Gltf", DataType::Boolean, false),
+///             Field::new("Glb", DataType::Boolean, false),
+///             Field::new("Obj", DataType::Boolean, false),
+///         ], None, UnionMode::Dense), false),
+///         Field::new("bytes", DataType::Binary, false),
+///         Field::new("transform", DataType::FixedSizeList(
+///             Box::new(Field::new("item", DataType::Float32, false)),
+///             12,
+///         ), false),
+///     ]),
+/// );
+/// ```
 #[derive(Clone, Debug, PartialEq)]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub struct EncodedMesh3D {
     pub mesh_id: MeshId,
     pub format: MeshFormat,
-    pub bytes: std::sync::Arc<[u8]>,
+    pub bytes: Arc<[u8]>,
     /// four columns of an affine transformation matrix
     pub transform: [[f32; 3]; 4],
 }
@@ -202,56 +292,28 @@ impl std::fmt::Display for MeshFormat {
     }
 }
 
-/// A Generic 3D Mesh
+/// A Generic 3D Mesh.
+///
+/// Cheaply clonable as it is all refcounted internally.
 ///
 /// ```
-/// # use re_log_types::component_types::Mesh3D;
+/// # use re_log_types::component_types::{Mesh3D, EncodedMesh3D, RawMesh3D};
 /// # use arrow2_convert::field::ArrowField;
 /// # use arrow2::datatypes::{DataType, Field, UnionMode};
 /// assert_eq!(
 ///     Mesh3D::data_type(),
-///     DataType::Union(
-///         vec![Field::new(
-///             "Encoded",
-///             DataType::Struct(vec![
-///                 Field::new("mesh_id", DataType::FixedSizeBinary(16), false),
-///                 Field::new(
-///                     "format",
-///                     DataType::Union(
-///                         vec![
-///                             Field::new("Gltf", DataType::Boolean, false),
-///                             Field::new("Glb", DataType::Boolean, false),
-///                             Field::new("Obj", DataType::Boolean, false)
-///                         ],
-///                         None,
-///                         UnionMode::Dense
-///                     ),
-///                     false
-///                 ),
-///                 Field::new("bytes", DataType::Binary, false),
-///                 Field::new(
-///                     "transform",
-///                     DataType::FixedSizeList(
-///                         Box::new(Field::new("item", DataType::Float32, false)),
-///                         12
-///                     ),
-///                     false
-///                 )
-///             ]),
-///             false
-///         )],
-///         None,
-///         UnionMode::Dense
-///     )
+///     DataType::Union(vec![
+///         Field::new("Encoded", EncodedMesh3D::data_type(), false),
+///         Field::new("Raw", RawMesh3D::data_type(), false),
+///     ], None, UnionMode::Dense),
 /// );
 /// ```
 #[derive(Clone, Debug, PartialEq, ArrowField, ArrowSerialize, ArrowDeserialize)]
 #[arrow_field(type = "dense")]
 #[cfg_attr(feature = "serde", derive(serde::Deserialize, serde::Serialize))]
 pub enum Mesh3D {
     Encoded(EncodedMesh3D),
-    // TODO(#749) Re-enable `RawMesh3D`
-    // Raw(Arc<RawMesh3D>),
+    Raw(RawMesh3D),
 }
 
 impl Component for Mesh3D {
@@ -264,32 +326,44 @@ impl Mesh3D {
     pub fn mesh_id(&self) -> MeshId {
         match self {
             Mesh3D::Encoded(mesh) => mesh.mesh_id,
-            // TODO(#749) Re-enable `RawMesh3D`
-            // Mesh3D::Raw(mesh) => mesh.mesh_id,
+            Mesh3D::Raw(mesh) => mesh.mesh_id,
         }
     }
 }
 
-#[test]
-fn test_datatype() {}
-
 #[test]
 fn test_mesh_roundtrip() {
     use arrow2::array::Array;
     use arrow2_convert::{deserialize::TryIntoCollection, serialize::TryIntoArrow};
 
-    let mesh_in = vec![Mesh3D::Encoded(EncodedMesh3D {
-        mesh_id: MeshId::random(),
-        format: MeshFormat::Glb,
-        bytes: std::sync::Arc::new([5, 9, 13, 95, 38, 42, 98, 17]),
-        transform: [
-            [1.0, 2.0, 3.0],
-            [4.0, 5.0, 6.0],
-            [7.0, 8.0, 9.0],
-            [10.0, 11.0, 12.],
-        ],
-    })];
-    let array: Box<dyn Array> = mesh_in.try_into_arrow().unwrap();
-    let mesh_out: Vec<Mesh3D> = TryIntoCollection::try_into_collection(array).unwrap();
-    assert_eq!(mesh_in, mesh_out);
+    // Encoded
+    {
+        let mesh_in = vec![Mesh3D::Encoded(EncodedMesh3D {
+            mesh_id: MeshId::random(),
+            format: MeshFormat::Glb,
+            bytes: std::sync::Arc::new([5, 9, 13, 95, 38, 42, 98, 17]),
+            transform: [
+                [1.0, 2.0, 3.0],
+                [4.0, 5.0, 6.0],
+                [7.0, 8.0, 9.0],
+                [10.0, 11.0, 12.],
+            ],
+        })];
+        let array: Box<dyn Array> = mesh_in.try_into_arrow().unwrap();
+        let mesh_out: Vec<Mesh3D> = TryIntoCollection::try_into_collection(array).unwrap();
+        assert_eq!(mesh_in, mesh_out);
+    }
+
+    // Raw
+    {
+        let mesh_in = vec![Mesh3D::Raw(RawMesh3D {
+            mesh_id: MeshId::random(),
+            positions: vec![1.0, 2.0, 3.0, 4.0, 5.0, 6.0, 8.0, 9.0, 10.0],
+            indices: vec![1, 2, 3].into(),
+            normals: vec![10.0, 20.0, 30.0, 40.0, 50.0, 60.0, 80.0, 90.0, 100.0].into(),
+        })];
+        let array: Box<dyn Array> = mesh_in.try_into_arrow().unwrap();
+        let mesh_out: Vec<Mesh3D> = TryIntoCollection::try_into_collection(array).unwrap();
+        assert_eq!(mesh_in, mesh_out);
+    }
 }

crates/re_log_types/src/component_types/size.rs

@@ -2,6 +2,7 @@ use arrow2_convert::{ArrowDeserialize, ArrowField, ArrowSerialize};
 
 use crate::msg_bundle::Component;
 
+// TODO(cmc): should just embed a Vec3D?
 #[derive(Debug, ArrowField, ArrowSerialize, ArrowDeserialize)]
 pub struct Size3D {
     pub x: f32,

crates/re_log_types/src/component_types/vec.rs

@@ -3,6 +3,8 @@ use arrow2_convert::{ArrowDeserialize, ArrowField, ArrowSerialize};
 use super::FixedSizeArrayField;
 use crate::msg_bundle::Component;
 
+// --- Vec2D ---
+
 /// A vector in 2D space.
 ///
 /// ```
@@ -71,6 +73,8 @@ impl From<glam::Vec2> for Vec2D {
     }
 }
 
+// --- Vec3D ---
+
 /// A vector in 3D space.
 ///
 /// ```
@@ -145,6 +149,8 @@ impl From<glam::Vec3> for Vec3D {
     }
 }
 
+// --- Vec4D ---
+
 /// A vector in 4D space.
 ///
 /// ```

crates/re_log_types/src/path/entity_path.rs

@@ -126,6 +126,16 @@ impl EntityPath {
     pub fn parent(&self) -> Option<Self> {
         self.path.parent().map(Self::from)
     }
+
+    pub fn join(&self, other: &Self) -> Self {
+        self.iter().chain(other.iter()).cloned().collect()
+    }
+}
+
+impl FromIterator<EntityPathPart> for EntityPath {
+    fn from_iter<T: IntoIterator<Item = EntityPathPart>>(parts: T) -> Self {
+        Self::new(parts.into_iter().collect())
+    }
 }
 
 impl From<EntityPathImpl> for EntityPath {

crates/re_renderer/src/mesh.rs

@@ -23,7 +23,7 @@ pub mod mesh_vertices {
 
     /// Mesh vertex as used in gpu residing vertex buffers.
     #[repr(C, packed)]
-    #[derive(Clone, Copy, bytemuck::Pod, bytemuck::Zeroable)]
+    #[derive(Debug, Clone, Copy, bytemuck::Pod, bytemuck::Zeroable)]
     pub struct MeshVertexData {
         pub normal: glam::Vec3, // TODO(andreas): Compress. Afaik Octahedral Mapping is the best by far, see https://jcgt.org/published/0003/02/01/
         pub texcoord: glam::Vec2,