From f8df8926db058506d067cc2d6b454a16612e883e Mon Sep 17 00:00:00 2001 From: Mahit James Date: Sat, 25 Jan 2025 19:58:10 +0530 Subject: [PATCH] Fix: Updated sdf_exporter.py based on review feedback Signed-off-by: mahit2609 --- examples/scripts/blender/sdf_exporter.py | 266 ++++++++++++----------- 1 file changed, 135 insertions(+), 131 deletions(-) diff --git a/examples/scripts/blender/sdf_exporter.py b/examples/scripts/blender/sdf_exporter.py index 8a98a422b7..ced6e757f9 100644 --- a/examples/scripts/blender/sdf_exporter.py +++ b/examples/scripts/blender/sdf_exporter.py @@ -1,79 +1,82 @@ +import xml.etree.ElementTree as ET +from os import path +from xml.dom import minidom + import bpy -import os.path -from bpy_extras.io_utils import ImportHelper -from bpy.props import StringProperty, BoolProperty +from bpy.props import StringProperty from bpy.types import Operator +from bpy_extras.io_utils import ImportHelper -import xml.etree.ElementTree as ET -from xml.dom import minidom +# Tested Blender version: 4.2/4.3 +######################################################################################################################## +### Exports model.dae of the scene with textures, its corresponding model.sdf file, and a default model.config file #### +######################################################################################################################## def export_sdf(prefix_path): - dae_filename = 'model.dae' - sdf_filename = 'model.sdf' - model_config_filename = 'model.config' - lightmap_filename = 'LightmapBaked.png' - model_name = 'my_model' - meshes_folder_prefix = 'meshes/' - + + dae_filename = "model.dae" + sdf_filename = "model.sdf" + model_config_filename = "model.config" + lightmap_filename = "LightmapBaked.png" + model_name = "my_model" + meshes_folder_prefix = "meshes/" + # Exports the dae file and its associated textures - bpy.ops.wm.collada_export(filepath=prefix_path+meshes_folder_prefix+dae_filename, - check_existing=False, - filter_blender=False, - filter_image=False, - filter_movie=False, - filter_python=False, - filter_font=False, - filter_sound=False, - filter_text=False, - filter_btx=False, - filter_collada=True, - filter_folder=True, - filemode=8) + bpy.ops.wm.collada_export( + filepath=path.join(prefix_path, meshes_folder_prefix, dae_filename), + check_existing=False, + filter_blender=False, + filter_image=False, + filter_movie=False, + filter_python=False, + filter_font=False, + filter_sound=False, + filter_text=False, + filter_btx=False, + filter_collada=True, + filter_folder=True, + filemode=8, + ) + # objects = bpy.context.selected_objects objects = bpy.context.selectable_objects - mesh_objects = [o for o in objects if o.type == 'MESH'] - light_objects = [o for o in objects if o.type == 'LIGHT'] + mesh_objects = [o for o in objects if o.type == "MESH"] + light_objects = [o for o in objects if o.type == "LIGHT"] + + ############################################# + #### export sdf xml based off the scene ##### + ############################################# + sdf = ET.Element("sdf", attrib={"version": "1.8"}) - sdf = ET.Element('sdf', attrib={'version':'1.8'}) - model = ET.SubElement(sdf, "model", attrib={"name":"test"}) + # 1 model and 1 link + model = ET.SubElement(sdf, "model", attrib={"name": "test"}) static = ET.SubElement(model, "static") static.text = "true" - link = ET.SubElement(model, "link", attrib={"name":"testlink"}) - - def get_diffuse_map(material): - """Helper function to safely get diffuse map from material""" - if not material or not material.use_nodes or not material.node_tree: - return "" - - nodes = material.node_tree.nodes - principled = next((n for n in nodes if n.type == 'BSDF_PRINCIPLED'), None) - - if not principled: - return "" - - base_color = principled.inputs.get('Base Color') or principled.inputs[0] - if not base_color.links: - return "" - - link_node = base_color.links[0].from_node - if not hasattr(link_node, 'image') or not link_node.image: - return "" - - return link_node.image.name - + link = ET.SubElement(model, "link", attrib={"name": "testlink"}) # for each geometry in geometry library add a tag for o in mesh_objects: - visual = ET.SubElement(link, "visual", attrib={"name":o.name}) - + visual = ET.SubElement(link, "visual", attrib={"name": o.name}) + geometry = ET.SubElement(visual, "geometry") mesh = ET.SubElement(geometry, "mesh") uri = ET.SubElement(mesh, "uri") - uri.text = dae_filename + uri.text = path.join(meshes_folder_prefix, dae_filename) submesh = ET.SubElement(mesh, "submesh") submesh_name = ET.SubElement(submesh, "name") submesh_name.text = o.name - - # Material handling + + # grab diffuse/albedo map + diffuse_map = "" + if o.active_material is not None: + nodes = o.active_material.node_tree.nodes + principled = next(n for n in nodes if n.type == "BSDF_PRINCIPLED") + if principled is not None: + base_color = principled.inputs["Base Color"] + if len(base_color.links): + link_node = base_color.links[0].from_node + diffuse_map = link_node.image.name + + # setup diffuse/specular color material = ET.SubElement(visual, "material") diffuse = ET.SubElement(material, "diffuse") diffuse.text = "1.0 1.0 1.0 1.0" @@ -81,137 +84,138 @@ def get_diffuse_map(material): specular.text = "0.0 0.0 0.0 1.0" pbr = ET.SubElement(material, "pbr") metal = ET.SubElement(pbr, "metal") - - # Get diffuse map if material exists - if o.active_material: - diffuse_map = get_diffuse_map(o.active_material) - if diffuse_map: - albedo_map = ET.SubElement(metal, "albedo_map") - albedo_map.text = meshes_folder_prefix + diffuse_map - - # Lightmap handling - if os.path.isfile(lightmap_filename): - light_map = ET.SubElement(metal, "light_map", attrib={"uv_set":"1"}) - light_map.text = meshes_folder_prefix + lightmap_filename + if diffuse_map != "": + albedo_map = ET.SubElement(metal, "albedo_map") + albedo_map.text = path.join(meshes_folder_prefix, diffuse_map) + + # for lightmapping, add the UV and turn off casting of shadows + if path.isfile(lightmap_filename): + light_map = ET.SubElement(metal, "light_map", attrib={"uv_set": "1"}) + light_map.text = path.join(meshes_folder_prefix, lightmap_filename) + cast_shadows = ET.SubElement(visual, "cast_shadows") cast_shadows.text = "0" def add_attenuation_tags(light_tag, blender_light): - """Helper function to add attenuation tags based on light type""" attenuation = ET.SubElement(light_tag, "attenuation") - - # Range (cutoff distance) - range_tag = ET.SubElement(attenuation, "range") - range_tag.text = str(blender_light.cutoff_distance) - - # Linear attenuation factor + range = ET.SubElement(attenuation, "range") + range.text = str(blender_light.cutoff_distance) linear = ET.SubElement(attenuation, "linear") - linear.text = "1.0" # Default linear attenuation - - # Quadratic attenuation factor + linear.text = "1.0" quadratic = ET.SubElement(attenuation, "quadratic") - quadratic.text = "0.0" # Default quadratic attenuation - - # Constant attenuation factor + quadratic.text = "0.0" constant = ET.SubElement(attenuation, "constant") - constant.text = "1.0" # Default constant attenuation + constant.text = "1.0" + - # Export lights + # export lights for l in light_objects: blender_light = l.data - + if blender_light.type == "POINT": - light = ET.SubElement(link, "light", attrib={"name":l.name, "type":"point"}) + light = ET.SubElement(link, "light", attrib={"name": l.name, "type": "point"}) diffuse = ET.SubElement(light, "diffuse") diffuse.text = f"{blender_light.color.r} {blender_light.color.g} {blender_light.color.b} 1.0" add_attenuation_tags(light, blender_light) - - elif blender_light.type == "SPOT": - light = ET.SubElement(link, "light", attrib={"name":l.name, "type":"spot"}) + + if blender_light.type == "SPOT": + light = ET.SubElement(link, "light", attrib={"name": l.name, "type": "spot"}) diffuse = ET.SubElement(light, "diffuse") diffuse.text = f"{blender_light.color.r} {blender_light.color.g} {blender_light.color.b} 1.0" add_attenuation_tags(light, blender_light) - # Add spot light specific parameters + # note: unsupported tags in blender spot = ET.SubElement(light, "spot") inner_angle = ET.SubElement(spot, "inner_angle") - inner_angle.text = str(blender_light.spot_size * 0.5) # Convert to inner angle + inner_angle.text = str(blender_light.spot_size * 0.5) outer_angle = ET.SubElement(spot, "outer_angle") - outer_angle.text = str(blender_light.spot_size) # Outer angle + outer_angle.text = str(blender_light.spot_size) falloff = ET.SubElement(spot, "falloff") - falloff.text = str(blender_light.spot_blend * 10) # Approximate falloff from blend - - elif blender_light.type == "SUN": - light = ET.SubElement(link, "light", attrib={"name":l.name, "type":"directional"}) + falloff.text = str(blender_light.spot_blend * 10) + + if blender_light.type == "SUN": + light = ET.SubElement(link, "light", attrib={"name": l.name, "type": "directional"}) diffuse = ET.SubElement(light, "diffuse") diffuse.text = f"{blender_light.color.r} {blender_light.color.g} {blender_light.color.b} 1.0" - + if blender_light.type in ["SUN", "SPOT"]: direction = ET.SubElement(light, "direction") direction.text = f"{l.matrix_world[0][2]} {l.matrix_world[1][2]} {l.matrix_world[2][2]}" - # Common light properties + # unsupported: AREA lights + cast_shadows = ET.SubElement(light, "cast_shadows") cast_shadows.text = "true" - + + # todo : bpy.types.light script api lacks an intensity value, possible candidate is energy/power(Watts)? intensity = ET.SubElement(light, "intensity") - intensity.text = str(blender_light.energy) # Use the light's energy as intensity - - # Collision tags - collision = ET.SubElement(link, "collision", attrib={"name":"collision"}) + intensity.text = str(blender_light.energy) + + ## sdf collision tags + collision = ET.SubElement(link, "collision", attrib={"name": "collision"}) + geometry = ET.SubElement(collision, "geometry") mesh = ET.SubElement(geometry, "mesh") uri = ET.SubElement(mesh, "uri") - uri.text = dae_filename + uri.text = path.join(meshes_folder_prefix, dae_filename) + surface = ET.SubElement(collision, "surface") - contact = ET.SubElement(collision, "contact") - collide_bitmask = ET.SubElement(collision, "collide_bitmask") + contact = ET.SubElement(surface, "contact") + collide_bitmask = ET.SubElement(contact, "collide_bitmask") collide_bitmask.text = "0x01" - # Write SDF file - xml_string = ET.tostring(sdf, encoding='unicode') + ## sdf write to file + xml_string = ET.tostring(sdf, encoding="unicode") reparsed = minidom.parseString(xml_string) - with open(prefix_path+sdf_filename, "w") as sdf_file: + with open(path.join(prefix_path, sdf_filename), "w") as sdf_file: sdf_file.write(reparsed.toprettyxml(indent=" ")) - # Generate model.config - model = ET.Element('model') - name = ET.SubElement(model, 'name') + ############################## + ### generate model.config #### + ############################## + model = ET.Element("model") + name = ET.SubElement(model, "name") name.text = model_name - version = ET.SubElement(model, 'version') + version = ET.SubElement(model, "version") version.text = "1.0" - sdf_tag = ET.SubElement(model, "sdf", attrib={"version":"1.8"}) + sdf_tag = ET.SubElement(model, "sdf", attrib={"version": "1.8"}) sdf_tag.text = sdf_filename - author = ET.SubElement(model, 'author') - name = ET.SubElement(author, 'name') + author = ET.SubElement(model, "author") + name = ET.SubElement(author, "name") name.text = "Generated by blender SDF tools" - xml_string = ET.tostring(model, encoding='unicode') + xml_string = ET.tostring(model, encoding="unicode") reparsed = minidom.parseString(xml_string) - with open(prefix_path+model_config_filename, "w") as config_file: + with open(path.join(prefix_path, model_config_filename), "w") as config_file: config_file.write(reparsed.toprettyxml(indent=" ")) +#### UI Handling #### class OT_TestOpenFilebrowser(Operator, ImportHelper): bl_idname = "test.open_filebrowser" bl_label = "Save" - - directory: bpy.props.StringProperty(name="Outdir Path") - + + directory: StringProperty(name="Outdir Path") + def execute(self, context): - if not os.path.isdir(self.directory): - print(self.directory + " is not a directory!") + """Do the export with the selected file.""" + if not path.isdir(self.directory): + print(f"{self.directory} is not a directory!") else: - print("exporting to directory: " + self.directory) + print(f"exporting to directory: {self.directory}") export_sdf(self.directory) - return {'FINISHED'} + return {"FINISHED"} -def register(): - bpy.utils.register_class(OT_TestOpenFilebrowser) +def register(): + bpy.utils.register_class(OT_TestOpenFilebrowser) -def unregister(): +def unregister(): bpy.utils.unregister_class(OT_TestOpenFilebrowser) - + if __name__ == "__main__": - register() - bpy.ops.test.open_filebrowser('INVOKE_DEFAULT') \ No newline at end of file + register() + bpy.ops.test.open_filebrowser("INVOKE_DEFAULT") + +# alternatively comment the main code block and do a function call without going through all the ui +# prefix_path = '/home/ddeng/blender_lightmap/final_office/office/' +# export_sdf(prefix_path) \ No newline at end of file