[FEATURE] Enabling rendering plane geometry one-sided. (Genesis-Embodied-AI#1396)

Author: LeonLiu4

genesis/engine/entities/rigid_entity/rigid_entity.py

@@ -127,24 +127,27 @@ def _load_primitive(self, morph, surface):
         if isinstance(morph, gs.options.morphs.Box):
             extents = np.array(morph.size)
             tmesh = mu.create_box(extents=extents)
+            cmesh = tmesh
             geom_data = extents
             geom_type = gs.GEOM_TYPE.BOX
             link_name_prefix = "box"
 
         elif isinstance(morph, gs.options.morphs.Sphere):
             tmesh = mu.create_sphere(radius=morph.radius)
+            cmesh = tmesh
             geom_data = np.array([morph.radius])
             geom_type = gs.GEOM_TYPE.SPHERE
             link_name_prefix = "sphere"
 
         elif isinstance(morph, gs.options.morphs.Cylinder):
             tmesh = mu.create_cylinder(radius=morph.radius, height=morph.height)
+            cmesh = tmesh
             geom_data = None
             geom_type = gs.GEOM_TYPE.MESH
             link_name_prefix = "cylinder"
 
         elif isinstance(morph, gs.options.morphs.Plane):
-            tmesh = mu.create_plane(normal=morph.normal)
+            tmesh, cmesh = mu.create_plane(normal=morph.normal)
             geom_data = np.array(morph.normal)
             geom_type = gs.GEOM_TYPE.PLANE
             link_name_prefix = "plane"
@@ -167,7 +170,7 @@ def _load_primitive(self, morph, surface):
                 dict(
                     contype=1,
                     conaffinity=1,
-                    mesh=gs.Mesh.from_trimesh(tmesh, surface=gs.surfaces.Collision()),
+                    mesh=gs.Mesh.from_trimesh(cmesh, surface=gs.surfaces.Collision()),
                     type=geom_type,
                     data=geom_data,
                     sol_params=gu.default_solver_params(),

genesis/utils/mesh.py

@@ -863,18 +863,33 @@ def create_plane(size=1e3, color=None, normal=(0.0, 0.0, 1.0)):
     mesh = trimesh.creation.box(extents=[size, size, thickness])
     mesh.vertices[:, 2] -= thickness / 2
     mesh.vertices = gu.transform_by_R(mesh.vertices, gu.z_up_to_R(np.asarray(normal, dtype=np.float32)))
+
+    half = size * 0.5
+    verts = np.array(
+        [
+            [-half, -half, 0.0],
+            [half, -half, 0.0],
+            [half, half, 0.0],
+            [-half, -half, 0.0],
+            [half, half, 0.0],
+            [-half, half, 0.0],
+        ],
+        dtype=np.float32,
+    )
+    faces = np.arange(6, dtype=np.int32).reshape(-1, 3)
+    vmesh = trimesh.Trimesh(verts, faces, process=False)
+    vmesh.vertices[:, 2] -= thickness / 2
+    vmesh.vertices = gu.transform_by_R(vmesh.vertices, gu.z_up_to_R(np.asarray(normal, dtype=np.float32)))
     if color is None:  # use checkerboard texture
-        mesh.visual = trimesh.visual.TextureVisuals(
+        vmesh.visual = trimesh.visual.TextureVisuals(
             uv=np.array(
                 [
                     [0, 0],
-                    [0, 0],
-                    [0, size],
-                    [0, size],
-                    [size, 0],
                     [size, 0],
                     [size, size],
+                    [0, 0],
                     [size, size],
+                    [0, size],
                 ],
                 dtype=np.float32,
             ),
@@ -883,10 +898,11 @@ def create_plane(size=1e3, color=None, normal=(0.0, 0.0, 1.0)):
             ),
         )
     else:
-        mesh.visual = trimesh.visual.ColorVisuals(
-            vertex_colors=np.tile(np.asarray(color, dtype=np.float32), (len(mesh.vertices), 1))
+        vmesh.visual = trimesh.visual.ColorVisuals(
+            vertex_colors=np.tile(np.asarray(color, dtype=np.float32), (len(vmesh.vertices), 1))
         )
-    return mesh
+
+    return vmesh, mesh
 
 
 def generate_tetgen_config_from_morph(morph):

genesis/utils/terrain.py

@@ -155,6 +155,7 @@ def parse_terrain(morph: Terrain, surface):
             heightfield,
             horizontal_scale=morph.horizontal_scale,
             vertical_scale=morph.vertical_scale,
+            surface=surface,
             uv_scale=morph.uv_scale if need_uvs else None,
         )
 
@@ -214,7 +215,12 @@ def fractal_terrain(terrain, levels=8, scale=1.0):
 
 
 def convert_heightfield_to_watertight_trimesh(
-    height_field_raw, horizontal_scale, vertical_scale, slope_threshold=None, uv_scale=None
+    height_field_raw,
+    horizontal_scale,
+    vertical_scale,
+    surface,
+    slope_threshold=None,
+    uv_scale=None,
 ):
     """
     Adapted from Issac Gym's `convert_heightfield_to_trimesh` function.
@@ -285,6 +291,20 @@ def convert_heightfield_to_watertight_trimesh(
         triangles_top[start + 1 : stop : 2, 1] = ind2
         triangles_top[start + 1 : stop : 2, 2] = ind3
 
+    if not surface.double_sided:
+        if uv_scale is not None:
+            uv_top = np.column_stack(
+                (
+                    (xx.flat - xx.min()) / (xx.max() - xx.min()) * uv_scale,
+                    (yy.flat - yy.min()) / (yy.max() - yy.min()) * uv_scale,
+                )
+            )
+            visual = trimesh.visual.TextureVisuals(uv=uv_top)
+        else:
+            visual = None
+
+        vmesh_single = trimesh.Trimesh(vertices_top, triangles_top, visual=visual, process=False)
+
     # bottom plane
     z_min = np.min(vertices_top[:, 2]) - 1.0
 
@@ -382,15 +402,16 @@ def convert_heightfield_to_watertight_trimesh(
 
         uv_simp = uvs[idx_map]
 
-        mesh = trimesh.Trimesh(
+        vmesh_full = trimesh.Trimesh(
             v_simp,
             f_simp,
             visual=trimesh.visual.TextureVisuals(uv=uv_simp),
         )
     else:
-        mesh = trimesh.Trimesh(v_simp, f_simp)
+        vmesh_full = trimesh.Trimesh(v_simp, f_simp)
 
-    return mesh, sdf_mesh
+    vmesh_out = vmesh_single if not surface.double_sided else vmesh_full
+    return vmesh_out, sdf_mesh
 
 
 def mesh_to_heightfield(