MeshShape: adopt TriMesh internal representation (issue #453) #2325

jslee02 · 2025-12-17T07:11:19Z

Addresses #453.

Refactors dynamics::MeshShape to store mesh data in math::TriMesh<double> (deprecated aiScene* accessors retained via lazy conversion).
Adds/updates utils::MeshLoader (Assimp-backed) to return TriMesh and wires it into parsers/collision/rendering paths.
Fixes ArrowShape + InteractiveFrame regressions when rendering without vertex colors (materials/shape-color handling, cached aiScene invalidation).
Adds C++ + Python unit tests for TriMesh/MeshShape/MeshLoader.

Verified locally (16 cores):

DART_PARALLEL_JOBS=16 CTEST_PARALLEL_LEVEL=16 pixi run test-all
DART_PARALLEL_JOBS=16 CTEST_PARALLEL_LEVEL=16 pixi run -e gazebo test-gz

pixi run ex atlas_simbicon

Screencast.from.2025-12-20.07-37-37.mp4

Before creating a pull request

Run pixi run test-all to lint, build, and test your changes
Add unit tests for new functionality
Document new methods and classes
Add Python bindings (dartpy) if applicable

Replace aiScene* with dart::math::TriMesh<double> as the internal mesh representation in MeshShape. This decouples mesh data from Assimp, enabling format-agnostic mesh handling. Key changes: - MeshShape stores TriMesh internally, converts to aiScene on-demand for backward compatibility - Collision detectors (ODE, Bullet, FCL) updated to use TriMesh API - ArrowShape and InteractiveFrame generate TriMesh directly (no aiScene intermediates) - SoftMeshShape uses TriMesh for soft body vertex updates - OSG rendering uses getMaterials() for Assimp-free material/texture access - Python bindings expose TriMesh (dartpy.math.TriMesh) with zero Assimp types - Added TriMesh.cpp Python bindings with complete API (addVertex, addTriangle, etc.) - Deprecated aiScene-based API maintained for backward compatibility with warnings - Moved AssimpInputResourceAdaptor to dart/dynamics/detail/ (deprecated) Backward compatibility: - Core C++ API: Full compatibility maintained (deprecated methods work with warnings) - Python bindings: Breaking changes allowed - now 100% TriMesh-only - OSG rendering: Breaking changes allowed - materials Assimp-free, scene graph uses deprecated API Documentation: - Added design rationale to docs/onboarding/dynamics.md - Added Python bindings info to docs/onboarding/python-bindings.md - Removed completed task directory docs/dev_tasks/mesh_loader/ (cherry picked from commit b74f9e6)

(cherry picked from commit a1013a2)

(cherry picked from commit 8affbec)

(cherry picked from commit 4712108)

Remove the newly-added dart/dynamics/fwd.hpp which conflicted with existing Fwd.hpp on case-insensitive filesystems and broke macOS/Windows builds. Also make Linux CI install pixi to a per-job path to avoid setup-pixi collisions, and drop an invalid sccache-action input.

- ArrowShape: use dart::math::pi instead of deprecated constants API (clang -Werror,-Wdeprecated-declarations). - MeshShape: export MeshHandle so external subclasses (and unit tests) can link on Windows.

Avoid use-after-free when setMesh() is called with the aiScene pointer returned by getMesh(), and normalize TriMesh constructor meshPath semantics. Add unit coverage and drop an unused test stub.

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dart/utils/urdf/UrdfParser.cpp

codecov · 2025-12-17T08:16:13Z

Codecov Report

❌ Patch coverage is 81.87702% with 168 lines in your changes missing coverage. Please review.
✅ Project coverage is 63.27%. Comparing base (cfa3d66) to head (0d41e22).
⚠️ Report is 1 commits behind head on main.

Files with missing lines	Patch %	Lines
dart/dynamics/MeshShape.cpp	80.77%	114 Missing ⚠️
dart/dynamics/ArrowShape.cpp	65.57%	42 Missing ⚠️
dart/utils/MeshLoader.hpp	88.88%	12 Missing ⚠️

Additional details and impacted files

@@            Coverage Diff            @@
##           main    #2325       +/-   ##
=========================================
+ Coverage      0   63.27%   +63.27%     
=========================================
  Files         0      366      +366     
  Lines         0    33739    +33739     
  Branches      0     4461     +4461     
=========================================
+ Hits          0    21348    +21348     
- Misses        0    12391    +12391

Flag	Coverage Δ
unittests	`63.27% <81.87%> (?)`

Flags with carried forward coverage won't be shown. Click here to find out more.

Files with missing lines	Coverage Δ
dart/collision/fcl/FCLCollisionDetector.cpp	`87.27% <100.00%> (ø)`
dart/collision/fcl/FCLCollisionObject.cpp	`95.23% <100.00%> (ø)`
dart/dynamics/MeshMaterial.hpp	`100.00% <100.00%> (ø)`
dart/dynamics/MeshShape.hpp	`100.00% <100.00%> (ø)`
dart/dynamics/SoftMeshShape.cpp	`79.10% <100.00%> (ø)`
...art/dynamics/detail/AssimpInputResourceAdaptor.cpp	`76.66% <100.00%> (ø)`
dart/math/TriMesh.hpp	`100.00% <ø> (ø)`
dart/math/detail/Mesh-impl.hpp	`24.24% <100.00%> (ø)`
dart/math/detail/TriMesh-impl.hpp	`27.63% <100.00%> (ø)`
dart/utils/SkelParser.cpp	`72.66% <100.00%> (ø)`
... and 7 more

... and 349 files with indirect coverage changes

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jslee02 · 2025-12-20T01:46:27Z

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dart/dynamics/MeshShape.cpp

jslee02 · 2025-12-20T02:16:50Z

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dart/utils/urdf/UrdfParser.cpp

jslee02 · 2025-12-20T02:49:33Z

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dart/gui/render/MeshShapeNode.cpp

jslee02 · 2025-12-20T15:32:01Z

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dart/collision/bullet/BulletCollisionDetector.cpp

jslee02 · 2025-12-20T16:54:32Z

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dart/dynamics/MeshShape.cpp

jslee02 · 2025-12-20T17:27:18Z

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Codex Review: Didn't find any major issues. Breezy!

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Co-authored-by: Jeongseok Lee <[email protected]>

jeongseok-meta and others added 20 commits December 13, 2025 07:46

Fix critical MeshShape bugs in constructor and setMesh

3d120c8

(cherry picked from commit a1013a2)

Add backward compatibility for external libraries using mMesh

3b3101a

(cherry picked from commit 8affbec)

Enable running gazebo tests

d51c554

(cherry picked from commit 4712108)

Fix build/tests after mesh_loader merge

960b04f

Refactor mesh loading and keep Gazebo compatibility

2cd16d8

Merge remote-tracking branch 'origin/main' into refactor/mesh_loader

1f7b4b9

CMake: find clang-format binary on macOS

ce115ec

CMake: chunk clang-format for format target

143ff19

Gazebo: fix gz-physics common test gtest headers

9b180be

Docs: normalize markdown emphasis

99ea569

Merge origin/main into refactor/mesh_loader

4cfb31a

Fix Windows/macOS build regressions

f56e099

- ArrowShape: use dart::math::pi instead of deprecated constants API (clang -Werror,-Wdeprecated-declarations). - MeshShape: export MeshHandle so external subclasses (and unit tests) can link on Windows.

Merge remote-tracking branch 'origin/main' into refactor/mesh_loader

30ec9ea

MeshShape: fix cached scene adoption

9c5e017

Avoid use-after-free when setMesh() is called with the aiScene pointer returned by getMesh(), and normalize TriMesh constructor meshPath semantics. Add unit coverage and drop an unused test stub.

MeshLoader: merge multiple meshes

b669fbd

Merge origin/main into refactor/mesh_loader

20f5ede

MeshShape: fix ArrowShape rendering and tests

eeb760a

Merge remote-tracking branch 'origin/main' into refactor/mesh_loader

64dd080

chatgpt-codex-connector bot reviewed Dec 17, 2025

View reviewed changes

dart/utils/urdf/UrdfParser.cpp Outdated Show resolved Hide resolved

Publish dartpy: stabilize linux Py314 wheels

27ceab2

jslee02 added this to the DART 7.0 milestone Dec 17, 2025

jslee02 added 6 commits December 17, 2025 16:07

MeshShape: preserve materials for TriMesh URIs

2b2754b

test-all: build examples and fix builds

07d7e53

examples: avoid deprecated math constants

805fea5

pixi: skip sccache when GHA cache disabled

8788d2f

Merge origin/main

6348ee6

pixi: disable compiler cache without GHA

a233f73

jslee02 added 2 commits December 19, 2025 17:45

Preserve texture URIs for mesh materials

4462ac7

Format code

579b9df

chatgpt-codex-connector bot reviewed Dec 20, 2025

View reviewed changes

dart/dynamics/MeshShape.cpp Show resolved Hide resolved

jslee02 added 2 commits December 19, 2025 18:03

Preserve UVs when rebuilding mesh scenes

cd5c6f2

Format code

7f809cb

chatgpt-codex-connector bot reviewed Dec 20, 2025

View reviewed changes

dart/utils/urdf/UrdfParser.cpp Show resolved Hide resolved

Adapt mesh parsers to shared TriMesh ownership

d7f3d0e

chatgpt-codex-connector bot reviewed Dec 20, 2025

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dart/gui/render/MeshShapeNode.cpp Outdated Show resolved Hide resolved

jslee02 and others added 4 commits December 19, 2025 21:25

Merge branch 'main' into refactor/mesh_loader

b2b9d17

Update MeshShapeNode material refresh

c243d39

Ensure ImGui import library on Windows

dd5e3c2

Skip GUI material update test in ASAN ImGui builds

110bf67

chatgpt-codex-connector bot reviewed Dec 20, 2025

View reviewed changes

dart/collision/bullet/BulletCollisionDetector.cpp Outdated Show resolved Hide resolved

Restore Bullet convex mesh detection for TriMesh

03d1c0f

chatgpt-codex-connector bot reviewed Dec 20, 2025

View reviewed changes

dart/dynamics/MeshShape.cpp Outdated Show resolved Hide resolved

Fix mesh loading without retriever

181ad65

jslee02 enabled auto-merge (squash) December 20, 2025 17:35

Update docs

0d41e22

jslee02 disabled auto-merge December 20, 2025 19:19

jslee02 merged commit fadd164 into main Dec 20, 2025
23 of 24 checks passed

jslee02 deleted the refactor/mesh_loader branch December 20, 2025 19:19

jslee02 mentioned this pull request Dec 20, 2025

MeshShape without Assimp #453

Closed

jslee02 added a commit that referenced this pull request Dec 20, 2025

MeshShape: adopt TriMesh internal representation (issue #453) (#2325)

8681e9c

Co-authored-by: Jeongseok Lee <[email protected]>

MeshShape: adopt TriMesh internal representation (issue #453) #2325

MeshShape: adopt TriMesh internal representation (issue #453) #2325

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