add enum, expand sdf doc

Signed-off-by: Ian Chen <[email protected]>

include/sdf/Mesh.hh

@@ -37,6 +37,17 @@ namespace sdf
   // Forward declarations.
   class ParserConfig;
 
+  /// \brief Mesh simplification method
+  enum class MeshSimplification
+  {
+    /// \brief No mesh simplification
+    NONE,
+    /// \brief Convex hull
+    CONVEX_HULL,
+    /// \brief Convex decomposition
+    CONVEX_DECOMPOSITION
+  };
+
   /// \brief Mesh represents a mesh shape, and is usually accessed through a
   /// Geometry.
   class SDFORMAT_VISIBLE Mesh
@@ -61,14 +72,26 @@ namespace sdf
     /// an error code and message. An empty vector indicates no error.
     public: Errors Load(sdf::ElementPtr _sdf, const ParserConfig &_config);
 
+    /// \brief Get the mesh's simplifcation method
+    /// \return The mesh simplification method.
+    /// MeshSimplification::NONE if no mesh simplificaton is done.
+    public: MeshSimplification Simplification() const;
+
     /// \brief Get the mesh's simplifcation method
     /// \return The mesh simplification method.
     /// Empty string if no mesh simplificaton is done.
-    public: std::string Simplification() const;
+    public: std::string SimplificationStr() const;
+
+    /// \brief Set the mesh simplification method.
+    /// \param[in] _simplifcation The mesh simplification method.
+    public: void SetSimplification(MeshSimplification _simplifcation);
 
     /// \brief Set the mesh simplification method.
     /// \param[in] _simplifcation The mesh simplification method.
-    public: void SetSimplification(const std::string &_simplifcation);
+    /// \return True if the _simplificationStr parameter matched a known
+    /// mesh simplification method. False if the mesh simplification method
+    ///  could not be set.
+    public: bool SetSimplification(const std::string &_simplifcationStr);
 
     /// \brief Get the mesh's URI.
     /// \return The URI of the mesh data.

sdf/1.11/mesh_shape.sdf

@@ -3,7 +3,7 @@
 
   <attribute name="simplification" type="string" default="" required="0">
     <description>
-      Set whether to simplify the mesh using one of the specified methods. Values include: "convex_hull", "convex_decomposition". Default value is an empty string which means no mesh simplification.
+      Set whether to simplify the mesh using one of the specified methods. Values include: "convex_hull" - a single convex hull that encapsulates the mesh, "convex_decomposition" - decompose the mesh into multiple convex hull meshes. Default value is an empty string which means no mesh simplification.
     </description>
   </attribute>
 

src/Mesh.cc

@@ -27,11 +27,21 @@
 
 using namespace sdf;
 
+/// Mesh Simplification method strings. These should match the data in
+/// `enum class MeshSimplification` located in Mesh.hh, and the size
+/// template parameter should match the number of elements as well.
+constexpr std::array<const std::string_view, 3> kMeshSimplificationStrs =
+{
+  "",
+  "convex_hull",
+  "convex_decomposition"
+};
+
 // Private data class
 class sdf::Mesh::Implementation
 {
   /// \brief Mesh simplification method
-  public: std::string simplification;
+  public: MeshSimplification simplification = MeshSimplification::NONE;
 
   /// \brief The mesh's URI.
   public: std::string uri = "";
@@ -93,8 +103,7 @@ Errors Mesh::Load(ElementPtr _sdf, const ParserConfig &_config)
   // Simplify
   if (_sdf->HasAttribute("simplification"))
   {
-    this->dataPtr->simplification = _sdf->Get<std::string>("simplification",
-        this->dataPtr->simplification).first;
+    this->SetSimplification(_sdf->Get<std::string>("simplification", "").first);
   }
 
   if (_sdf->HasElement("uri"))
@@ -151,13 +160,36 @@ sdf::ElementPtr Mesh::Element() const
 }
 
 //////////////////////////////////////////////////
-std::string Mesh::Simplification() const
+MeshSimplification Mesh::Simplification() const
 {
   return this->dataPtr->simplification;
 }
 
 //////////////////////////////////////////////////
-void Mesh::SetSimplification(const std::string &_simplification)
+std::string Mesh::SimplificationStr() const
+{
+  size_t index = static_cast<int>(this->dataPtr->simplification);
+  if (index < kMeshSimplificationStrs.size())
+    return std::string(kMeshSimplificationStrs[index]);
+  return "";
+}
+
+//////////////////////////////////////////////////
+bool Mesh::SetSimplification(const std::string &_simplificationStr)
+{
+  for (size_t i = 0; i < kMeshSimplificationStrs.size(); ++i)
+  {
+    if (_simplificationStr == kMeshSimplificationStrs[i])
+    {
+      this->dataPtr->simplification = static_cast<MeshSimplification>(i);
+      return true;
+    }
+  }
+  return false;
+}
+
+//////////////////////////////////////////////////
+void Mesh::SetSimplification(MeshSimplification _simplification)
 {
   this->dataPtr->simplification = _simplification;
 }
@@ -268,7 +300,7 @@ sdf::ElementPtr Mesh::ToElement(sdf::Errors &_errors) const
 
   // Simplification
   elem->GetAttribute("simplification")->Set<std::string>(
-      this->dataPtr->simplification);
+      this->SimplificationStr());
 
   // Uri
   sdf::ElementPtr uriElem = elem->GetElement("uri", _errors);

src/Mesh_TEST.cc

@@ -34,7 +34,8 @@ TEST(DOMMesh, Construction)
   sdf::Mesh mesh;
   EXPECT_EQ(nullptr, mesh.Element());
 
-  EXPECT_EQ(std::string(), mesh.Simplification());
+  EXPECT_EQ(std::string(), mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::NONE, mesh.Simplification());
   EXPECT_EQ(std::string(), mesh.FilePath());
   EXPECT_EQ(std::string(), mesh.Uri());
   EXPECT_EQ(std::string(), mesh.Submesh());
@@ -54,7 +55,8 @@ TEST(DOMMesh, MoveConstructor)
   mesh.SetFilePath("/pear");
 
   sdf::Mesh mesh2(std::move(mesh));
-  EXPECT_EQ("convex_hull", mesh2.Simplification());
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -74,7 +76,8 @@ TEST(DOMMesh, CopyConstructor)
   mesh.SetFilePath("/pear");
 
   sdf::Mesh mesh2(mesh);
-  EXPECT_EQ("convex_hull", mesh2.Simplification());
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -95,7 +98,8 @@ TEST(DOMMesh, CopyAssignmentOperator)
 
   sdf::Mesh mesh2;
   mesh2 = mesh;
-  EXPECT_EQ("convex_hull", mesh2.Simplification());
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -116,7 +120,8 @@ TEST(DOMMesh, MoveAssignmentOperator)
 
   sdf::Mesh mesh2;
   mesh2 = std::move(mesh);
-  EXPECT_EQ("convex_hull", mesh2.Simplification());
+  EXPECT_EQ("convex_hull", mesh2.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh2.Simplification());
   EXPECT_EQ("banana", mesh2.Uri());
   EXPECT_EQ("watermelon", mesh2.Submesh());
   EXPECT_EQ(gz::math::Vector3d(0.5, 0.6, 0.7), mesh2.Scale());
@@ -149,9 +154,14 @@ TEST(DOMMesh, Set)
   sdf::Mesh mesh;
   EXPECT_EQ(nullptr, mesh.Element());
 
-  EXPECT_EQ(std::string(), mesh.Simplification());
+  EXPECT_EQ(std::string(), mesh.SimplificationStr());
   mesh.SetSimplification("convex_hull");
-  EXPECT_EQ("convex_hull", mesh.Simplification());
+  EXPECT_EQ("convex_hull", mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL, mesh.Simplification());
+  mesh.SetSimplification(sdf::MeshSimplification::CONVEX_DECOMPOSITION);
+  EXPECT_EQ("convex_decomposition", mesh.SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_DECOMPOSITION,
+            mesh.Simplification());
 
   EXPECT_EQ(std::string(), mesh.Uri());
   mesh.SetUri("http://myuri.com");
@@ -321,6 +331,7 @@ TEST(DOMMesh, ToElement)
   sdf::Mesh mesh2;
   mesh2.Load(elem);
 
+  EXPECT_EQ(mesh.SimplificationStr(), mesh2.SimplificationStr());
   EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
   EXPECT_EQ(mesh.Uri(), mesh2.Uri());
   EXPECT_EQ(mesh.Scale(), mesh2.Scale());
@@ -361,6 +372,7 @@ TEST(DOMMesh, ToElementErrorOutput)
   errors = mesh2.Load(elem);
   EXPECT_TRUE(errors.empty());
 
+  EXPECT_EQ(mesh.SimplificationStr(), mesh2.SimplificationStr());
   EXPECT_EQ(mesh.Simplification(), mesh2.Simplification());
   EXPECT_EQ(mesh.Uri(), mesh2.Uri());
   EXPECT_EQ(mesh.Scale(), mesh2.Scale());

test/integration/geometry_dom.cc

@@ -179,7 +179,9 @@ TEST(DOMGeometry, Shapes)
   EXPECT_EQ(sdf::GeometryType::MESH, meshCol->Geom()->Type());
   const sdf::Mesh *meshColGeom = meshCol->Geom()->MeshShape();
   ASSERT_NE(nullptr, meshColGeom);
-  EXPECT_EQ("convex_hull", meshColGeom->Simplification());
+  EXPECT_EQ("convex_hull", meshColGeom->SimplificationStr());
+  EXPECT_EQ(sdf::MeshSimplification::CONVEX_HULL,
+            meshColGeom->Simplification());
 
   EXPECT_EQ("https://fuel.gazebosim.org/1.0/an_org/models/a_model/mesh/"
       "mesh.dae", meshColGeom->Uri());